CN114524105B

CN114524105B - Unmanned aerial vehicle dynamic take-off and landing device and take-off and landing method

Info

Publication number: CN114524105B
Application number: CN202210432802.4A
Authority: CN
Inventors: 崔向宇; 张冬; 李雪玲; 赵利娟; 黄静
Original assignee: Tianjin Aerospace Zhongwei Date Systems Technology Co Ltd
Current assignee: Tianjin Aerospace Zhongwei Date Systems Technology Co Ltd
Priority date: 2022-04-24
Filing date: 2022-04-24
Publication date: 2022-08-02
Anticipated expiration: 2042-04-24
Also published as: WO2023206864A1; CN114524105A

Abstract

The invention provides a dynamic take-off and landing device and a take-off and landing method of an unmanned aerial vehicle, wherein the device is arranged on a carrier base and comprises an attitude adjusting mechanism and an apron arranged on the attitude adjusting mechanism, the attitude adjusting mechanism is arranged on the carrier base and is used for dynamically adjusting the pose state of the apron, and the apron is internally provided with an apron for storing the unmanned aerial vehicle; the attitude adjusting mechanism and the parking apron are both connected with a controller, and the controller is used for dynamically adjusting the attitude of the attitude adjusting mechanism in real time so as to keep the parking apron in a horizontal state all the time. According to the dynamic take-off and landing device and the take-off and landing method of the unmanned aerial vehicle, the attitude adjusting mechanism is arranged, the parking apron is placed above the attitude adjusting mechanism, and the control unit is placed on the carrier to jointly form the take-off and landing device of the unmanned aerial vehicle; the posture adjusting mechanism is designed by adopting a U-shaped frame, a compact space is reasonably utilized, a reasonable space is reserved for arranging the lower cabin of the parking apron, and the minimized and optimized design of the posture adjusting mechanism is realized.

Description

Unmanned aerial vehicle dynamic take-off and landing device and take-off and landing method

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a dynamic take-off and landing device and a take-off and landing method for an unmanned aerial vehicle.

Background

The unmanned aerial vehicle is applied to the industries of traffic, security, forestry, electric power, petroleum and the like more and more widely, and how to realize the long-distance, large-range and high-frequency operation general survey and monitoring of the unmanned aerial vehicle is particularly important. With the continuous promotion of the unmanned aerial vehicle control technology, how to reduce human participation to the maximum extent, save the cost of labor, the demand that realizes unmanned aerial vehicle independently carries out the task becomes especially important.

At present, in order to ensure that an unmanned aerial vehicle can quickly reach a designated place to operate, a user places an unmanned aerial vehicle take-off and landing device on a moving carrier such as a vehicle and a ship, when the carrier such as the vehicle and the ship moves, because the ground and sea level are easily influenced by complex environments such as terrain and sea waves, the existing unmanned aerial vehicle take-off and landing device senses the attitude change of the carrier through an attitude sensor, most of the existing unmanned aerial vehicle take-off and landing device carries out horizontal adjustment through a cylinder, the real-time adjustment speed is slow, and the unmanned aerial vehicle take-off and landing process is complex; meanwhile, in the take-off process of the unmanned aerial vehicle, the head direction of the unmanned aerial vehicle does not coincide with the first target point of the air route, so that the head of the unmanned aerial vehicle needs to be continuously adjusted in the air to make a turn and fly to the first target point, and certain electric quantity is consumed while the flying distance is increased; when the unmanned aerial vehicle lands, the head of the unmanned aerial vehicle needs to be adjusted in real time according to the moving carrier, and the head direction of the unmanned aerial vehicle needs to be continuously adjusted to keep the direction of the platform consistent when the descending position of the unmanned aerial vehicle is continuously adjusted, so that the landing difficulty is greatly increased, and more power is consumed in the landing process; therefore, this patent application has designed an unmanned aerial vehicle developments device and method of taking off and land.

Disclosure of Invention

In view of the above, the present invention aims to provide a dynamic take-off and landing device and a take-off and landing method for an unmanned aerial vehicle, so as to solve the problems that the take-off and landing device of the unmanned aerial vehicle is inconvenient to adjust, the take-off and landing difficulty of the unmanned aerial vehicle is high, more electric power is easily consumed, and the work efficiency of task execution of the unmanned aerial vehicle is seriously affected.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

on one hand, the invention provides a dynamic take-off and landing device of an unmanned aerial vehicle, which is arranged on a carrier base and comprises an attitude adjusting mechanism and an apron arranged on the attitude adjusting mechanism, wherein the attitude adjusting mechanism is arranged on the carrier base and is used for dynamically adjusting the pose state of the apron, and an apron used for storing the unmanned aerial vehicle is arranged in the apron;

the attitude adjusting mechanism and the parking apron are both connected with a controller; the controller is used for receiving first target point information of a mission air route of the unmanned aerial vehicle before takeoff, calculating a target angle value, and adjusting the posture adjusting mechanism according to the calculated target angle value so as to enable the parking apron to point to the first target point in real time and ensure that the aircraft nose always points to the first target point; the controller is used for receiving the course information of the unmanned aerial vehicle before landing, calculating the azimuth pointing angle of the attitude adjusting mechanism, adjusting the attitude adjusting mechanism according to the calculated azimuth pointing angle to enable the parking apron to be horizontally adjusted, and ensuring that the orientation of the parking apron is always consistent with that of the aircraft nose.

Further, the attitude adjusting mechanism comprises an azimuth turntable, a pitching turntable and a rolling turntable; the bearing rotary table is arranged on the carrier base and used for adjusting the horizontal rotation angle of the parking apron, the pitching rotary table is rotatably arranged at the top of the bearing rotary table and is of a U-shaped structure and used for adjusting the pitching angle of the parking apron, the rolling rotary table is rotatably arranged on the pitching rotary table, the parking apron is fixedly arranged on the rolling rotary table, and the rolling state is used for adjusting the rolling angle of the parking apron.

Furthermore, the azimuth turntable comprises a fixed base and an azimuth turntable, a plurality of groups of fixed holes are formed in the fixed base, the fixed base is fixedly mounted on the carrier base through bolts, a first gear is mounted between the fixed base and the azimuth turntable in an assembling manner, an azimuth motor is fixedly arranged on the azimuth turntable, a second gear is mounted at the output shaft end of the azimuth motor and is meshed with the first gear, an azimuth encoder is also fixedly arranged on the azimuth turntable, a third gear is mounted at the main shaft end of the azimuth encoder, and the third gear is also meshed with the first gear;

the pitching rotary table comprises a support frame and a bogie, the support frame is fixedly arranged on the azimuth turntable, a pitching motor is fixedly arranged on a side plate of the support frame, an output shaft of the pitching motor is fixedly provided with a gear IV, a plurality of groups of corresponding rollers are arranged on the inner walls of two side plates of the support frame, a placement position for mounting the bogie is arranged between the rollers on the two sides, the bogie is of a U-shaped structure, the bottom end of the bogie is provided with a first arc rack meshed with the gear IV, arc-shaped protruding parts matched with the rollers are fixedly arranged on the outer walls on the two sides of the bogie, and a pitching encoder for recording the steering angle of the bogie is arranged on the other side plate of the support frame;

roll revolving stage includes angle adjusting plate, roll motor and roll encoder, angle adjusting plate's quantity is two sets of, two sets of angle adjusting plate correspond to rotate and install the both ends at the bogie, leave the space that is used for installing the air park between two sets of angle adjusting plate, two sets of angle adjusting plate's bottom all is equipped with arc rack two, roll motor and roll encoder pass through the fixed plate and install on the bogie, the output shaft end of roll motor is fixed and is provided with gear five, gear five meshes with the arc rack two phase that is equipped with on a set of angle adjusting plate wherein, gear six is installed to roll encoder's main shaft end, gear six meshes with the arc rack two phase that is equipped with on another set of angle adjusting plate.

Further, the air park includes the cabin body and the lower cabin body, the top of the cabin body is equipped with the hatch door that opens and shuts, go up the internal playback mechanism that is equipped with to the automatic playback placed in the middle of unmanned aerial vehicle in cabin, the internal elevating system and the charging mechanism of being equipped with in lower cabin, the bottom plate central point of the cabin body puts and is equipped with the through-hole that supplies elevating system oscilaltion, be equipped with the through hole that corresponds with charging mechanism's charging electrode on elevating system's the lift platform, unmanned aerial vehicle after the elevating system control playback and the accurate butt joint of charging mechanism's charging electrode.

Further, the controller is fixed to be set up on the fixed baseplate of position revolving stage, the controller includes control circuit board, integrated configuration has servo control module on the control circuit board, servo control module is used for data real-time analysis, servo control module is connected with inertial navigation module and 5G module, inertial navigation module sets up on the carrier, be used for perception carrier position, gesture and course information, the quantity of 5G module is two sets of, a set of installation is on unmanned aerial vehicle, another group is installed on the carrier, carry out the information interaction through the 5G module, pass unmanned aerial vehicle course and gesture information back to servo control module in real time, and give unmanned aerial vehicle with the real-time passback of carrier information.

Furthermore, an azimuth driving unit for controlling the work of an azimuth motor, a pitching driving unit for controlling the work of a pitching motor and a rolling driving unit for controlling the work of a rolling motor are also integrated and configured on the control circuit board, and the azimuth driving unit, the pitching driving unit and the rolling driving unit are all connected with a servo control module;

the attitude adjusting mechanism, the parking apron and the controller are all connected with a power module.

On the other hand, the invention provides a dynamic take-off and landing method of an unmanned aerial vehicle, which comprises a take-off method, wherein the take-off method comprises the following steps:

a1, receiving a takeoff instruction by an unmanned aerial vehicle to execute a flight task, automatically increasing stability of an attitude adjusting mechanism, isolating carrier disturbance and ensuring that a take-off and landing device is in a horizontal state;

a2, judging whether the horizontal stability precision of the take-off and landing device in the step A1 meets the take-off requirement; if the unmanned aerial vehicle meets the requirement, the parking apron automatically opens the cabin door, and the unmanned aerial vehicle rises to a take-off position; if the signals do not meet the requirements, the horizontal state of the take-off and landing device is adjusted until the take-off requirements are met;

a3, for the unmanned aerial vehicle lifted to the takeoff position, a servo control module receives position information of a first target point of an unmanned aerial vehicle air route through a 5G module, performs data fusion processing with an inertial navigation module, calculates the direction pointing angle of a posture adjusting mechanism, drives the unmanned aerial vehicle by an apron, and leads the head of the unmanned aerial vehicle to point to the first target point of the air route in real time;

a4, judging whether the bearing pointing precision of the take-off and landing device in the step A3 meets the pointing take-off requirement or not; if yes, carrying out the next step; if not, adjusting the direction of the take-off and landing device until the take-off requirement is met;

a5, the direction of the take-off and landing device meets the requirement of directional take-off, the locking mechanism is released, and the unmanned aerial vehicle unlocks and takes off; at the moment, the parking apron closes the cabin door, and the posture adjusting structure is collected to the zero position.

Further, the step a3 specifically includes:

calculating a direction vector of a carrier pointing to the first target point of the unmanned aerial vehicle air route in an earth coordinate system by using longitude, latitude and height information of the first target point of the unmanned aerial vehicle air route and the inertial navigation module, then fusing current attitude information of the inertial navigation module of the carrier, calculating a target angle by using a coordinate transformation mode, and calculating a direction pointing angle of an attitude adjusting mechanism;

the direction vector calculation expression of the first target point of the unmanned aerial vehicle air route is as follows:

under the terrestrial coordinate system, the direction vector of the carrier pointing to the first target point of the unmanned aerial vehicle air route is as follows:

wherein the content of the first and second substances,

which is the radius of the earth, is,

the longitude, latitude and height of a first target point of the unmanned plane route,

longitude, latitude, and altitude of the carrier;

the longitude and latitude information of the carrier can be used to obtain a transformation matrix of the earth coordinate system and the local horizontal plane coordinate system as

And then calculating the direction vector of the carrier pointing to the first target point of the unmanned plane route under the coordinate system of the local horizontal plane as follows:

；

the transformation matrix from the local horizontal plane coordinate system to the carrier coordinate system is as follows:

wherein the content of the first and second substances,

、

、

the angle values of the azimuth turntable, the roll turntable and the pitching turntable are obtained;

under the carrier coordinate system, the direction vector of the carrier pointing to the first target point of the unmanned aerial vehicle air route is as follows:

the azimuth angle of the attitude adjustment module is as follows:

。

further, the method comprises a falling method, wherein the falling method comprises the following steps:

b1, the unmanned aerial vehicle receives a task ending instruction to execute a landing task, the attitude adjusting mechanism horizontally increases stability, and carrier disturbance is isolated;

b2, judging whether the horizontal stability precision of the lifting device in the step B1 meets the landing requirement; if the altitude meets the requirement, the parking apron automatically opens the cabin door, and the lifting platform rises to the top end; if not, adjusting the horizontal state of the lifting device until meeting the landing requirement;

b3, after the lifting platform rises to the top end, the servo control module receives the course information of the unmanned aerial vehicle through the 5G module, performs data fusion processing with the inertial navigation module, calculates the azimuth pointing angle of the attitude adjusting mechanism, and ensures that the directions of the parking apron and the head of the unmanned aerial vehicle are consistent;

b4, judging whether the orientation precision of the lifting device in the step B3 meets the requirement of orientation landing; if yes, carrying out the next step; if not, adjusting the direction of the lifting device until the landing requirement is met;

b5, the direction of the take-off and landing device meets the requirement of directional take-off, and the unmanned aerial vehicle lands autonomously; the homing mechanism, the locking mechanism and the lifting mechanism act to descend the unmanned aerial vehicle into the parking apron, the charging mechanism automatically charges the unmanned aerial vehicle, the cabin door is closed by the parking apron, and the posture adjusting mechanism returns to zero.

Further, the step B3 specifically includes:

the servo control module performs data fusion on the course information of the unmanned aerial vehicle and the current attitude information of the inertial navigation module, performs target angle calculation by using a coordinate transformation mode, and calculates the azimuth pointing angle of the attitude adjusting mechanism;

when the unmanned plane lands, the course angle is

In order to ensure the rapid and stable landing of the unmanned aerial vehicle and reduce the difficulty of moving and landing, the azimuth space angle of the parking apron also needs to be adjusted to

；

Under the local horizontal plane coordinate system, the direction vector of the carrier pointing to the unmanned aerial vehicle is as follows:

；

wherein the content of the first and second substances,

、

、

；

the azimuth angle of the attitude adjustment module is as follows:

。

compared with the prior art, the dynamic take-off and landing device and the take-off and landing method of the unmanned aerial vehicle have the following beneficial effects:

(1) according to the dynamic take-off and landing device for the unmanned aerial vehicle, the parking apron is placed above the attitude adjusting mechanism, the control unit is placed on the carrier, and the unmanned aerial vehicle take-off and landing device is formed together;

in the taking-off and landing process of the unmanned aerial vehicle, the taking-off and landing device is always in a horizontal state, so that large-angle disturbance caused by bumping in the moving processes of a vehicle body, a ship body and the like is effectively isolated, and a good environment is provided for taking-off and landing of the unmanned aerial vehicle;

after the unmanned aerial vehicle takes off and lands, the parking apron is automatically collected, the posture adjusting mechanism is automatically reset to zero and returns to the initial position, the posture adjustment is not performed any more, and the electric quantity is saved.

(2) According to the dynamic take-off and landing device for the unmanned aerial vehicle, the cabin door of the apron can be automatically opened before the unmanned aerial vehicle takes off, the unmanned aerial vehicle rises to a take-off position, the locking mechanism is released, and the unmanned aerial vehicle takes off; and after the unmanned aerial vehicle takes off, the cabin door of the parking apron is automatically closed. Before the unmanned aerial vehicle lands, the cabin door of the parking apron is automatically opened; after the unmanned aerial vehicle falls, the parking apron automatically carries out the full autonomous processes of homing, locking, descending, charging, closing of the cabin door and the like of the unmanned aerial vehicle, the artificial intervention is not needed, and the protection of the unmanned aerial vehicle is effectively increased.

(3) According to the dynamic take-off and landing method of the unmanned aerial vehicle, after the unmanned aerial vehicle receives a take-off instruction and issues the take-off instruction, the servo control module fuses inertial navigation module information to perform attitude calculation, so that the horizontal adjustment of a take-off and landing device is realized, and carrier disturbance is isolated; the hatch door is automatic to be opened, and unmanned aerial vehicle rises to the position of taking off, and at this moment, servo controller passes through unmanned aerial vehicle 5G module, receives the first target point longitude and latitude coordinate of unmanned aerial vehicle task course to fuse inertial navigation module information and carry out the target angle and solve, and drive gesture guiding mechanism motor makes the air park point to first target point in real time, guarantees that the aircraft nose is towards first target point all the time, and locking mechanism releases, and unmanned aerial vehicle takes off automatically.

(4) According to the dynamic take-off and landing method of the unmanned aerial vehicle, the unmanned aerial vehicle is enabled to execute a mission flight path fixed wing mode to fly to a mobile take-off and landing point, after the preset height is reached, a rotor wing mode is cut in for descending, at the moment, a servo control module receives course information of the unmanned aerial vehicle through a 5G module and performs data fusion attitude calculation by fusing inertial navigation module information, the azimuth pointing angle of an attitude adjusting mechanism is calculated, the attitude adjusting mechanism drives an air park to perform horizontal adjustment, the orientation of the air park is kept consistent with that of a machine head all the time, the machine head is not required to be adjusted in the whole descending process of the unmanned aerial vehicle, only horizontal adjustment is required, the mobile landing difficulty is greatly reduced, and electric quantity is saved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a system diagram of a dynamic take-off and landing device for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a schematic view of an overall structure of a dynamic take-off and landing device for an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic view of a first angular structure of an attitude adjustment mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a second angular structure of the attitude adjustment mechanism according to the embodiment of the present invention;

FIG. 5 is an elevation view of an apron door according to an embodiment of the invention in an open position;

FIG. 6 is a top view of a parking mechanism, a lifting mechanism and a charging mechanism according to an embodiment of the present invention;

FIG. 7 is a front view of a parking mechanism, a lifting mechanism and a charging mechanism according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a lifting mechanism and a charging mechanism according to an embodiment of the present invention;

fig. 9 is a top view of an unmanned aerial vehicle landing on the apron landing device according to an embodiment of the invention;

fig. 10 is a flowchart of a dynamic takeoff method of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 11 is a flowchart of a dynamic landing method of an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 12 is a circuit diagram of a servo control module according to an embodiment of the present invention;

FIG. 13 is a circuit diagram of an azimuth driving unit according to an embodiment of the present invention;

fig. 14 is a circuit diagram of a pitch driving unit according to an embodiment of the present invention;

fig. 15 is a circuit diagram of a roll driving unit according to an embodiment of the present invention.

Description of reference numerals:

1. an attitude adjusting mechanism; 11. an azimuth turntable; 111. a fixed base; 112. an azimuth turntable; 113. a first gear; 114. an azimuth motor; 115. a second gear; 116. a position encoder; 117. a third gear; 12. a pitching rotary table; 121. a support frame; 122. a bogie; 123. a pitch motor; 124. a fourth gear; 125. a roller; 126. a first arc-shaped rack; 127. an arc-shaped convex part; 128. a pitch encoder; 13. rolling the rotary table transversely; 131. an angle adjusting plate; 132. a roll motor; 133. a roll encoder; 134. an arc-shaped rack II; 135. a fixing plate; 136. a fifth gear; 137. a sixth gear; 2. parking apron; 21. an upper cabin body; 212. a cabin door; 22. a lower cabin body; 23. a homing mechanism; 24. a lifting mechanism; 25. and a charging mechanism.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In a first embodiment, please refer to fig. 1 and fig. 2, an embodiment of the present invention provides a dynamic take-off and landing apparatus for an unmanned aerial vehicle, which is installed on a base of a carrier (a mobile carrier such as a vehicle or a ship), and includes an attitude adjusting mechanism 1 and an apron 2 disposed on the attitude adjusting mechanism 1, wherein the attitude adjusting mechanism 1 is disposed on the base of the carrier and is used for dynamically adjusting a pose state of the apron 2, and an apron for storing the unmanned aerial vehicle is disposed in the apron; the control unit is arranged on the carrier to jointly form the unmanned aerial vehicle taking-off and landing device, the attitude adjusting mechanism 1 adopts a U-shaped frame design, a compact space is reasonably utilized, a reasonable space is reserved for arranging the lower cabin of the apron 2, and the minimized and optimized design of the attitude adjusting mechanism 1 is realized;

after the unmanned aerial vehicle takes off and lands, the parking apron is automatically collected, the posture adjusting mechanism is automatically reset to zero and returns to the initial position, the posture adjustment is not performed any more, and the electric quantity is saved;

the attitude adjusting mechanism 1 and the parking apron 2 are both connected with controllers; the controller is used for receiving first target point information of a mission air route of the unmanned aerial vehicle before takeoff, calculating a target angle value, and adjusting the attitude adjusting mechanism 1 according to the calculated target angle value so as to enable the parking apron 2 to point to the first target point in real time and ensure that the aircraft nose always points to the first target point; the controller is used for receiving the course information of the unmanned aerial vehicle before landing, calculating the azimuth pointing angle of the attitude adjusting mechanism 1, and adjusting the attitude adjusting mechanism 1 according to the calculated azimuth pointing angle to enable the parking apron 2 to be horizontally adjusted, so that the orientation of the parking apron 2 is always consistent with that of the aircraft nose;

besides the posture adjusting mechanism 1 designed by the application, the existing conventional posture adjusting mechanism can be adopted, namely the position of the apron 2 can be adjusted in real time.

As shown in fig. 3 and 4, the attitude adjusting mechanism 1 includes an azimuth turn table 11, a pitch turn table 12, and a roll turn table 13; the azimuth turntable 11 is arranged on the carrier base, the azimuth turntable 11 is used for adjusting the horizontal rotation angle of the parking apron 2, the pitching turntable 12 is rotatably arranged at the top of the azimuth turntable 11, the pitching turntable 12 is of a U-shaped structure, the pitching turntable 12 is used for adjusting the pitching angle of the parking apron 2, the roll turntable 13 is rotatably arranged on the pitching turntable 12, the parking apron 2 is fixedly arranged on the roll turntable 13, and the roll turntable 13 is used for adjusting the roll angle of the parking apron 2; the attitude adjusting mechanism 1 can realize 360-degree rotation in azimuth, and the rotation angle ranges of the pitching rotary table 12 and the rolling rotary table 13 are-45 degrees to +45 degrees.

The azimuth turntable 11 comprises a fixed base 111 and an azimuth turntable 112, the fixed base 111 is provided with a plurality of groups of fixed holes, the fixed base 111 is fixedly installed on a carrier base through bolts, a first gear 113 is assembled and installed between the fixed base 111 and the azimuth turntable 112, the azimuth turntable 112 is fixedly provided with an azimuth motor 114, the output shaft end of the azimuth motor 114 is provided with a second gear 115, the second gear 115 is meshed with the first gear 113, the azimuth turntable 112 is also fixedly provided with an azimuth encoder 116, the main shaft end of the azimuth encoder 116 is provided with a third gear 117, and the third gear 117 is also meshed with the first gear 113;

the pitching rotary table 12 comprises a support frame 121 and a bogie 122, the support frame 121 is fixedly arranged on the azimuth turntable 112, a pitching motor 123 is fixedly arranged on a side plate of the support frame 121, a gear four 124 is fixedly arranged on an output shaft of the pitching motor 123, a plurality of groups of corresponding rollers 125 are arranged on inner walls of two side plates of the support frame 121, a placing position for mounting the bogie 122 is arranged between the rollers 125 on two sides, the bogie 122 is of a U-shaped structure, an arc rack one 126 meshed with the gear four 124 is arranged at the bottom end of the bogie 122, arc bulges 127 matched with the rollers 125 are fixedly arranged on outer walls on two sides of the bogie 122, and a pitching encoder 128 for recording the steering angle of the bogie 122 is arranged on the other side plate of the support frame 121;

the roll table 13 comprises angle adjusting plates 131, roll motors 132 and roll encoders 133, the number of the angle adjusting plates 131 is two, the two angle adjusting plates 131 are correspondingly rotatably mounted at two ends of the bogie 122, a gap for mounting the parking apron 2 is reserved between the two angle adjusting plates 131, the parking apron 2 is rigidly connected with the angle adjusting plates 131, two arc-shaped rack bars 134 are arranged at the bottom ends of the two angle adjusting plates 131, the roll motors 132 and the roll encoders 133 are mounted on the bogie 122 through fixing plates 135, a fifth gear 136 is fixedly arranged at an output shaft end of the roll motor 132, the fifth gear 136 is meshed with the two arc-shaped rack bars 134 arranged on one angle adjusting plate 131, a sixth gear 137 is mounted at a main shaft end of the roll encoder 133, and the sixth gear 137 is meshed with the two arc-shaped rack bars 134 arranged on the other angle adjusting plate 131.

As shown in fig. 5 to 7, the apron 2 includes an upper cabin 21 and a lower cabin 22, an open-close cabin door 212 is disposed at the top end of the upper cabin 21, a homing mechanism 23 for automatically homing and centering the unmanned aerial vehicle is disposed in the upper cabin 21, and when the unmanned aerial vehicle lands on the upper cabin 21 platform of the apron 2, the horizontal push rod and the vertical push rod of the homing mechanism 23 are simultaneously pushed in two directions to realize homing of the unmanned aerial vehicle; the upper cabin body 21 is also internally provided with a locking hook for locking the unmanned aerial vehicle, the locking hook is not shown in the attached drawings, the locking hook adopted in the technical scheme is a conventional technology well known by technical personnel in the field, the locking hook is not improved in the patent application, the structure of the locking hook is not an innovation point of the patent application, and only the unmanned aerial vehicle can be locked and fixed, so that the locking hook is not described in any more detail;

as shown in fig. 7 and 8, an opening and closing door is arranged on the front surface of the lower cabin body, a lifting mechanism 24 and a charging mechanism 25 are arranged in the lower cabin body 22, a through hole for the lifting mechanism 24 to lift up and down is formed in the center of a bottom plate of the upper cabin body 21, a through hole corresponding to a charging electrode of the charging mechanism 25 is formed in a lifting platform of the lifting mechanism 24, the charging electrode of the charging mechanism 25 is connected with a charging power supply, and the lifting mechanism 24 controls the unmanned aerial vehicle after homing to be accurately butted with the charging electrode of the charging mechanism 25;

the lifting module of the lifting mechanism 24 drives the lifting platform to lift, the whole unmanned aerial vehicle adopts a local lifting mode, when the unmanned aerial vehicle enters the center, the lifting mechanism 24 lowers the landing gear of the unmanned aerial vehicle into the upper cabin body 21 of the apron 2, the charging electrode in the lower cabin body 22 is accurately butted with the landing gear electrode of the unmanned aerial vehicle, the automatic charging of the battery in the unmanned aerial vehicle is realized, and the cabin door 212 is automatically closed;

the relative positions of the parking apron 2 and the unmanned aerial vehicle head are shown in fig. 9, wherein X is the zero position direction of the head and the rotary table, and Y is the wing direction of the unmanned aerial vehicle; after the unmanned aerial vehicle lands, the relative positions of the nose and the take-off and landing device are kept consistent, and the area of the apron at the moment is the minimum; after the unmanned aerial vehicle falls, the homing mechanism 23 is propelled from the horizontal direction and the vertical direction simultaneously to perform fast homing and centering on the unmanned aerial vehicle; utilize locking mechanism to realize unmanned aerial vehicle locking, elevating system 24 drives unmanned aerial vehicle decline after the locking, and the accurate butt joint of charging electrode that the landing gear electrode of realization unmanned aerial vehicle and lower cabin body 22 were equipped with after arriving the base position, unmanned aerial vehicle battery carries out the automation and charges.

The controller is fixedly arranged on a fixed base 111 of the azimuth turntable 11 and comprises a control circuit board, a servo control module is integrated and configured on the control circuit board and used for analyzing data in real time, the servo control module is connected with an inertial navigation module and a 5G module, the inertial navigation module is arranged on a carrier and used for sensing position, attitude and course information data of the carrier, the inertial navigation module provides high-precision three-dimensional position, speed and attitude information by a three-axis gyroscope and a three-axis accelerometer through a GPS and IMU tight coupling technology, the double antennas are divided into a master antenna and a slave antenna and can sense the position and attitude information of the carrier, and the inertial navigation module adopts a SDI-699GI mature product produced by seven-dimensional aerial survey companies, so further description is not needed; the number of the 5G modules is two, one group is arranged on the unmanned aerial vehicle, the other group is arranged on the carrier, information interaction is carried out through the 5G modules, the flight line and attitude information of the unmanned aerial vehicle are transmitted back to the servo control module in real time, and the carrier information is transmitted back to the unmanned aerial vehicle in real time;

the servo control module is a control core of the whole dynamic take-off and landing device and has the following main functions:

(1) the inertial navigation module and the 5G module are connected to realize real-time data analysis;

(2) receiving attitude information of an inertial navigation module, resolving an attitude adjusting mechanism motor pointing angle in real time, performing position closed-loop control through an encoder, keeping an apron horizontal, and isolating carrier disturbance;

(3) before the unmanned aerial vehicle takes off, a first target point of a mission air route of the unmanned aerial vehicle is received in real time through a 5G module, data fusion is carried out by combining a carrier inertial navigation module, an azimuth pointing angle is solved in real time, an azimuth motor is driven to drive an apron to rotate, and the condition that a nose of the unmanned aerial vehicle always faces the first target point in the carrier moving process is guaranteed;

(4) in the landing process of the unmanned aerial vehicle, the course information of the unmanned aerial vehicle is received in real time through the 5G module, data fusion is carried out by combining the inertial navigation module, the azimuth pointing angle is solved in real time, the azimuth motor is driven to drive the parking apron to rotate, and the parking apron is guaranteed to be always pointed to the machine head in the moving process of the carrier;

(5) after the unmanned aerial vehicle takes off and lands, a parking apron motor is driven to realize all autonomous processes such as homing, locking, lifting, charging, cabin door opening and closing of the unmanned aerial vehicle;

(6) after the unmanned aerial vehicle is collected to the parking apron, the attitude adjusting mechanism is controlled to automatically point to the zero position by the azimuth, pitching and roll motors, and the attitude adjusting mechanism returns to zero.

The control circuit board is also integrated with an azimuth driving unit for controlling the operation of an azimuth motor 114, a pitch driving unit for controlling the operation of a pitch motor 123 and a roll driving unit for controlling the operation of a roll motor 132, and the azimuth driving unit, the pitch driving unit and the roll driving unit are all connected with a servo control module;

the power supply module supplies power to the whole attitude adjusting mechanism 1, the apron 2 and the internal module of the controller.

In specific implementation, as shown in fig. 12, the servo control module includes a main control chip U6, the main control chip is a chip of but not limited to STM32F405VGT7 model, a PD5 pin and a PD6 pin of the main control chip U6 are connected to the inertial navigation module through an RS422 serial communication circuit, a PA9 pin and a PA10 pin of the main control chip U6 are connected to the 5G module through the RS422 serial communication circuit, and the RS422 serial communication circuit is a conventional communication circuit in the art, and therefore, further description is not repeated;

as shown in fig. 13-15, the azimuth driving unit includes a chip U2, the pitch driving unit includes a chip U3, the roll unit includes a chip U4, chip U2, chip U3 and chip U4 employ, but are not limited to, G _ HOR5/100SE chip, PC 5 pin and PD5 pin of the main control chip U5 correspond to RS232_ TX pin and RS232_ RX pin of the chip U5, M5 pin and M5 pin of the chip U5 correspond to azimuth motor input terminals, PC 5 pin and PC 5 pin of the main control chip U5 correspond to RS232_ TX pin and RS232_ RX pin of the chip U5, M5 pin and M5 pin of the chip U5 correspond to pitch motor input terminals, PC 5 pin and PC 5 pin of the main control chip U5 correspond to RS232_ TX pin and RS232_ TX pin of the chip U5, M5 pin and M5 pin of the PD5 pin and M5 pin correspond to pitch motor input terminals, PC 5 pin of the chip U5 pin correspond to RS232_ TX pin and RS 5 pin of the roll encoder 422 of the roll unit 5 through serial port communication, the PD10 pin and the PD11 pin of the main control chip U6 are correspondingly connected with a pitching encoder through an RS422 serial port communication circuit, and the PD14 pin and the PD15 pin of the main control chip U6 are correspondingly connected with a rolling encoder through the RS422 serial port communication circuit.

The taking-off and landing device is suitable for being installed on mobile carriers or static carriers such as vehicles, ships and the like, and is suitable for unmanned aerial vehicles mainly comprising a vertical taking-off and landing unmanned aerial vehicle and a multi-rotor unmanned aerial vehicle, wherein the multi-rotor unmanned aerial vehicle mainly comprises three parts, namely an attitude adjusting mechanism, an air park and a controller, the attitude adjusting mechanism is in a U-shaped frame form, is placed below the air park, reasonably utilizes space, and can drive the air park to rotate for 360 degrees;

the dynamic take-off and landing device can effectively isolate carrier disturbance, and the parking apron is always kept horizontal in the take-off and landing process of the unmanned aerial vehicle, so that a good and stable take-off and landing device is provided for the take-off and landing of the unmanned aerial vehicle.

The embodiment of the invention also provides a dynamic take-off and landing method of the unmanned aerial vehicle, which comprises a take-off method and a landing method;

as shown in fig. 10, the takeoff method includes the following steps:

after the servo control module receives a takeoff instruction, the speed and attitude information of the inertial navigation module are fused to perform stability augmentation control, carrier disturbance is isolated, and the expression of the three-axis frame speed compensation is as follows:

wherein the content of the first and second substances,

、

、

the angular velocities of the azimuth, the roll and the pitch are respectively;

、

、

the angular velocity of the carrier output by the inertial navigation module is along the component of the coordinate axis,

、

the values are azimuth and roll frame angle values;

when the space horizontal stability precision of the take-off and landing device is less than 0.5 degrees, the cabin door of the parking apron is opened, and the unmanned aerial vehicle rises to a take-off position;

longitude and latitude information degrees of a first target point of an unmanned aerial vehicle route are transmitted to a servo control unit through a 5G module, a direction vector of a carrier pointing to the first target point of the unmanned aerial vehicle route in a terrestrial coordinate system is calculated by using the longitude, latitude and height information of the first target point of the unmanned aerial vehicle route and an inertial navigation module, then current attitude information of the inertial navigation module is fused, a coordinate transformation mode is used for resolving a target angle, and an azimuth pointing angle of an attitude adjusting mechanism is calculated; the specific calculation expression is shown as the following formula:

wherein the content of the first and second substances,

which is the radius of the earth, is,

longitude, latitude, and altitude of the carrier;

And calculating the direction vector of the carrier pointing to the first target point of the unmanned plane route under the coordinate system of the local horizontal plane as follows:

；

wherein the content of the first and second substances,

、

、

the values are azimuth, roll and pitch frame angle values;

；

the azimuth angle of the attitude adjustment module is as follows:

driving a motor of the attitude adjusting mechanism to move, enabling the parking apron to point to a first target point in real time, and when the azimuth pointing accuracy is smaller than 0.5 degrees, releasing the locking mechanism and unlocking and taking off the unmanned aerial vehicle;

after the unmanned aerial vehicle is confirmed to take off, the cabin door of the parking apron is closed, and the rotary table is collected to the zero positions of azimuth, pitching and rolling.

As shown in fig. 11, the dropping method includes the steps of:

after receiving the task ending instruction of the unmanned aerial vehicle, the servo control module fuses the speed and attitude information of the inertial navigation module to perform stability augmentation control and isolate carrier disturbance; the expression of the speed compensation of the take-off and landing device is shown as follows:

wherein the content of the first and second substances,

、

、

the angular velocities of the azimuth, the roll and the pitch are respectively;

、

、

、

the angle value of the azimuth and the roll platform;

when the space horizontal stability precision of the lifting device is less than 0.5 degrees, the cabin door of the parking apron is opened;

the servo control module carries out data fusion on the course information of the unmanned aerial vehicle and the current attitude information of the inertial navigation module, the target angle is resolved by utilizing a coordinate transformation mode, and the azimuth pointing angle of the attitude adjusting mechanism is calculated, wherein the specific calculation expression is as follows:

when the unmanned plane lands, the course angle is

；

；

wherein the content of the first and second substances,

、

、

the angle values of the azimuth, the roll and the pitching rotary table are obtained;

；

the azimuth angle of the attitude adjustment module is

；

Driving a motor of the attitude adjusting mechanism to move, so that the parking apron points to the direction of the head of the unmanned aerial vehicle in real time, and when the pointing accuracy of the azimuth is less than 0.5 degrees, the unmanned aerial vehicle automatically lands;

after confirming that the unmanned aerial vehicle lands, the unmanned aerial vehicle is returned to the center, the locking mechanism is released, the unmanned aerial vehicle lands at the bottom, the cabin door is closed, and the take-off and landing device is collected to the zero position of azimuth, pitching and rolling.

After the takeoff instruction of the unmanned aerial vehicle is issued, the attitude adjusting mechanism automatically increases the stability, isolates the disturbance of the carrier and ensures that the platform is horizontal; at the moment, the cabin door is automatically opened, the unmanned aerial vehicle rises to a take-off position, the servo controller receives position information of a first target point of an air route of the unmanned aerial vehicle through the 5G module, and an inertial navigation module is fused for data fusion, the azimuth pointing angle of the attitude adjusting mechanism is calculated, the situation that the parking apron always faces the first target point of the mission air route in the moving process of the carrier is guaranteed, the unmanned aerial vehicle vertically rises and descends to a set height, the shortest distance flies to the first target point, the aircraft nose is not required to be adjusted in the air, the electric quantity is saved, and the first target point can be quickly reached.

When the unmanned aerial vehicle moves and lands, the attitude adjusting mechanism is stable horizontally, and carrier disturbance is isolated; the servo controller receives the course information of the unmanned aerial vehicle through the 5G module, performs data fusion by fusing the inertial navigation module, calculates the azimuth pointing angle of the attitude adjusting mechanism and ensures that the directions of the parking apron and the machine head are consistent; unmanned aerial vehicle need not to carry out the aircraft nose adjustment in removing the descending, reduces and removes the descending degree of difficulty, shortens the descending time, saves the unmanned aerial vehicle electric quantity.

After the unmanned aerial vehicle rises and falls, the parking apron automatically carries out full autonomous processes such as homing, locking, collecting, charging and automatic closing of cabin doors of the unmanned aerial vehicle, human intervention is not needed, and the unmanned aerial vehicle can be effectively protected after the parking apron is collected.

After the unmanned aerial vehicle finishes the task and the parking apron is collected, the posture adjusting mechanism automatically returns to zero, the relative position of the posture adjusting mechanism and the carrier (the vehicle body or the ship body) is kept consistent, the posture is not adjusted, and the energy loss is saved.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides an unmanned aerial vehicle developments take off and land device installs on the carrier base, its characterized in that: the unmanned aerial vehicle attitude control system comprises an attitude adjusting mechanism (1) and an air park (2) arranged on the attitude adjusting mechanism (1), wherein the attitude adjusting mechanism (1) is arranged on a carrier base and used for dynamically adjusting the attitude state of the air park (2), and an air park for storing an unmanned aerial vehicle is arranged in the air park;

the attitude adjusting mechanism (1) and the parking apron (2) are both connected with a controller, the controller comprises a control circuit board, a servo control module is integrated and configured on the control circuit board and used for analyzing data in real time, the servo control module is connected with an inertial navigation module and a 5G module, information interaction is carried out through the 5G module, the unmanned aerial vehicle air route and attitude information are transmitted back to the servo control module in real time, and carrier information is transmitted back to the unmanned aerial vehicle in real time;

the controller is used for receiving first target point information of a mission air route of the unmanned aerial vehicle before takeoff, calculating a target angle value, and adjusting the attitude adjusting mechanism (1) according to the calculated target angle value to enable the parking apron (2) to point to the first target point in real time, so that the aircraft nose is enabled to face the first target point all the time; the controller is used for receiving unmanned aerial vehicle course information before landing, and calculating the azimuth angle of the attitude adjusting mechanism (1), and adjusting the attitude adjusting mechanism (1) according to the calculated azimuth angle so as to horizontally adjust the parking apron (2), thereby ensuring that the orientation of the parking apron (2) is always consistent with that of the aircraft nose.

2. The dynamic take-off and landing device of the unmanned aerial vehicle as claimed in claim 1, wherein: the posture adjusting mechanism (1) comprises an azimuth rotary table (11), a pitching rotary table (12) and a rolling rotary table (13); the bearing rotary table (11) is arranged on the carrier base, the bearing rotary table (11) is used for adjusting the horizontal rotation angle of the parking apron (2), the pitching rotary table (12) is rotatably arranged at the top of the bearing rotary table (11), the pitching rotary table (12) is of a U-shaped structure, the pitching rotary table (12) is used for adjusting the pitching angle of the parking apron (2), the rolling rotary table (13) is rotatably arranged on the pitching rotary table (12), the parking apron (2) is fixedly arranged on the rolling rotary table (13), and the rolling rotary table (13) is used for adjusting the rolling angle of the parking apron (2).

3. The dynamic take-off and landing device of the unmanned aerial vehicle as claimed in claim 2, wherein: the azimuth turntable (11) comprises a fixed base (111) and an azimuth turntable (112), a plurality of groups of fixed holes are formed in the fixed base (111), the fixed base (111) is fixedly installed on a carrier base through bolts, a first gear (113) is installed between the fixed base (111) and the azimuth turntable (112), an azimuth motor (114) is fixedly arranged on the azimuth turntable (112), a second gear (115) is installed at the output shaft end of the azimuth motor (114), the second gear (115) is meshed with the first gear (113), an azimuth encoder (116) is further fixedly arranged on the azimuth turntable (112), a third gear (117) is installed at the main shaft end of the azimuth encoder (116), and the third gear (117) is also meshed with the first gear (113);

the pitching rotary table (12) comprises a support frame (121) and a bogie (122), the support frame (121) is fixedly arranged on the azimuth turntable (112), a pitching motor (123) is fixedly arranged on a side plate of the support frame (121), a gear four (124) is fixedly arranged on an output shaft of the pitching motor (123), a plurality of groups of corresponding rollers (125) are arranged on inner walls of two side plates of the support frame (121), a placement position for mounting the bogie (122) is arranged between the rollers (125) on the two sides, the bogie (122) is of a U-shaped structure, an arc rack one (126) meshed with the gear four (124) is arranged at the bottom end of the bogie (122), arc-shaped protruding parts (127) matched with the rollers (125) are fixedly arranged on outer walls of the two sides of the bogie (122), and a pitching encoder (128) for recording the steering angle of the bogie (122) is arranged on the other side plate of the support frame (121);

the rolling table (13) comprises an angle adjusting plate (131), roll motor (132) and roll encoder (133), the quantity of angle adjusting plate (131) is two sets ofly, two sets of angle adjusting plate (131) correspond to rotate and install the both ends in bogie (122), leave the space that is used for installing parking apron (2) between two sets of angle adjusting plate (131), the bottom of two sets of angle adjusting plate (131) all is equipped with arc rack two (134), roll motor (132) and roll encoder (133) are installed on bogie (122) through fixed plate (135), the output shaft end of roll motor (132) is fixed and is provided with gear five (136), gear five (136) meshes with arc rack two (134) that are equipped with on one set of angle adjusting plate (131) wherein, gear six (137) are installed to the main shaft end of roll encoder (133), gear six (137) mesh with arc rack two (134) that are equipped with on another set of angle adjusting plate (131).

4. The dynamic take-off and landing device of the unmanned aerial vehicle as claimed in claim 3, wherein: parking apron (2) are including last cabin body (21) and lower cabin body (22), the top of going up cabin body (21) is equipped with hatch door (212) that open and shut, it is equipped with homing mechanism (23) to the automatic homing of unmanned aerial vehicle placed in the middle to go up cabin body (21), be equipped with elevating system (24) and charging mechanism (25) in lower cabin body (22), the bottom plate central point of going up cabin body (21) puts and is equipped with the through-hole that supplies elevating system (24) oscilaltion, be equipped with the through hole that corresponds with the charging electrode of charging mechanism (25) on the lift platform of elevating system (24), unmanned aerial vehicle after elevating system (24) control homing and the accurate butt joint of charging electrode of charging mechanism (25).

5. The dynamic take-off and landing device of the unmanned aerial vehicle as claimed in claim 4, wherein: the controller is fixed to be set up on fixed baseplate (111) of position revolving stage (11), and inertial navigation module sets up on the carrier for perception carrier position, gesture and course information, and the quantity of 5G module is two sets of, and a set of installation is on unmanned aerial vehicle, and another group installs on the carrier.

6. The dynamic take-off and landing device of the unmanned aerial vehicle as claimed in claim 5, wherein: the control circuit board is also integrated with an azimuth driving unit for controlling an azimuth motor (114) to work, a pitching driving unit for controlling a pitching motor (123) to work and a rolling driving unit for controlling a rolling motor (132) to work, and the azimuth driving unit, the pitching driving unit and the rolling driving unit are all connected with a servo control module;

the attitude adjusting mechanism (1), the parking apron (2) and the controller are all connected with the power supply module.

7. A dynamic take-off and landing method applied to the dynamic take-off and landing device of the unmanned aerial vehicle, which is characterized in that: the take-off method comprises the following steps:

a2, judging whether the horizontal stability precision of the take-off and landing device in the step A1 meets the take-off requirement; if the unmanned aerial vehicle meets the requirement, the parking apron automatically opens the cabin door, and the unmanned aerial vehicle rises to a take-off position; if not, adjusting the horizontal state of the take-off and landing device until the take-off requirement is met;

a4, judging whether the orientation pointing accuracy of the take-off and landing device in the step A3 meets the pointing take-off requirement; if yes, carrying out the next step; if not, adjusting the direction of the take-off and landing device until the take-off and landing device meets the requirement of direction take-off;

8. The dynamic take-off and landing method of the unmanned aerial vehicle as claimed in claim 7, wherein the specific method in step a3 is:

wherein the content of the first and second substances,

which is the radius of the earth, is,

longitude, latitude, and altitude of the carrier;

；

wherein the content of the first and second substances,

、

、

the azimuth angle of the attitude adjustment module is as follows:

。

9. the dynamic take-off and landing method of the unmanned aerial vehicle as claimed in claim 7, wherein: the method also comprises a landing method, and the landing method comprises the following steps:

b4, judging whether the orientation precision of the lifting device in the step B3 meets the requirement of orientation landing; if yes, carrying out the next step; if not, adjusting the direction of the lifting device until the direction landing requirement is met;

10. The dynamic take-off and landing method for the unmanned aerial vehicle as claimed in claim 9, wherein the specific method in step B3 is:

when the unmanned plane lands, the course angle is