CN116353875A - Unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling and leveling method - Google Patents
Unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling and leveling method Download PDFInfo
- Publication number
- CN116353875A CN116353875A CN202310244195.3A CN202310244195A CN116353875A CN 116353875 A CN116353875 A CN 116353875A CN 202310244195 A CN202310244195 A CN 202310244195A CN 116353875 A CN116353875 A CN 116353875A
- Authority
- CN
- China
- Prior art keywords
- horizontal plate
- leveling
- degree
- unmanned aerial
- aerial vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 8
- 238000005096 rolling process Methods 0.000 description 7
- 230000000087 stabilizing effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of automatic control, in particular to an unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling, which is composed of three high-speed telescopic electric cylinders and a horizontal plate, and compared with a traditional three-degree-of-freedom leveling structure, three electric cylinders are reduced, the space loss of a leveling system to a cabin is reduced, and the space utilization rate of the whole cabin is improved. And the physical structure of the three-cylinder leveling system is upgraded, the inclination angle of each cylinder body and the vertical direction of each cylinder body is increased, so that the three-cylinder leveling system forms a multidirectional triangular stable structure, the stability of the three-cylinder structure is improved, the leveling method parameters are automatically adjusted according to the inclination angle degrees, corresponding parameters can be set through an upper computer of the leveling system, the installation positions of the cylinder body inclination angle and the three cylinder bodies are included, the application scene of a lifting platform is greatly increased, the utilization rate of cabin space is improved, the whole cabin can meet loading requirements, and the unmanned aerial vehicle can realize self lifting along with the operation of a carrier.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to an unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling and a leveling method.
Background
At present, most of the vertical take-off and landing cabins of the rotor unmanned aerial vehicle are lifting platforms with one degree of freedom (only height is changed), and the main functions of the whole cabin are to realize retraction, storage and certain protection of the unmanned aerial vehicle. The application scene of the vehicle-mounted cabin is changed along with the change of the traveling environment of the vehicle, the vehicle cannot always keep the level of the vehicle, however, the degree of freedom of a lifting platform in the traditional cabin is limited, and the lifting condition of the rotor unmanned aerial vehicle cannot be met, so that the application scene is limited to the condition of road surface leveling, and the condition of always horizontally taking off for the unmanned aerial vehicle cannot be ensured when the vehicle moves.
The traditional cabin is large in size, has certain requirements and limits on the bearing capacity of the assembly carrier, most cabins and landing platforms are required to be perfectly matched, and control parameters of the leveling system cannot be adjusted according to the condition of the rotor type unmanned aerial vehicle and when the installation position is changed.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling and a leveling method, and aims to optimize the cabin structure of the existing unmanned aerial vehicle take-off and landing platform, improve the utilization rate of cabin space, and dynamically adjust corresponding scene parameters so that the unmanned aerial vehicle can take off and land along with the operation of a carrier.
In order to achieve the purpose, the invention provides an unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling, which comprises a take-off and landing platform hardware structure and a software system, wherein the software system is used for coordinately controlling the take-off and landing platform hardware structure;
the lifting platform hardware structure comprises an upper horizontal plate, a lower horizontal plate, three electric cylinders, a power supply, a control cabinet, a gyroscope and a laser range finder, wherein each electric cylinder is respectively fixedly connected with the upper horizontal plate and the lower horizontal plate at two ends, the upper horizontal plate and the lower horizontal plate are relatively arranged in parallel, the power supply is used for controlling the control cabinet and the laser range finder to be arranged between the upper horizontal plate and the lower horizontal plate, and the gyroscope is arranged on the upper horizontal plate.
Each electric cylinder comprises an electric cylinder limiter, a telescopic cylinder body, a servo motor and a speed reducer, wherein the electric cylinder limiter is located at the top of the telescopic cylinder body, the axis of the servo motor is parallel to the axis of the telescopic cylinder body, and the speed reducer is arranged above the servo motor.
The electric cylinder is fixedly connected with the upper horizontal plate through a cross hinge, and the electric cylinder is fixedly connected with the lower horizontal plate through a U-shaped seat.
The three cross hinges are uniformly distributed on one platform circle of the upper horizontal plate at intervals of 120 degrees, and the three U-shaped seats are uniformly distributed on one platform circle of the lower horizontal plate at intervals of 120 degrees.
The center of the platform circles of the upper horizontal plate and the lower horizontal plate are positioned at the same vertical position.
The software system comprises an upper computer part, a main control part and an electric cylinder control program part, wherein the upper computer part is responsible for finishing information display, parameter setting and equipment debugging functions, the main control part is used for receiving setting parameters, acquiring sensor data, updating a leveling method of a leveling platform and outputting electric cylinder position control quantity, and the electric cylinder control program part is used for controlling a servo motor.
The invention also provides a leveling method of the unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling, which comprises the following steps:
respectively setting a world coordinate system and a dynamic coordinate system;
obtaining homogeneous coordinates of the connection points of the three electric cylinders and the lower horizontal plate in a world coordinate system;
obtaining homogeneous coordinates of the connection points of the three electric cylinders and the upper horizontal plate under a dynamic coordinate system;
obtaining final position coordinates of the connection points of the three electric cylinders and the upper horizontal plate under a world coordinate system through coordinate transformation matrix processing;
calculating to obtain a displacement value of the electric cylinder body;
and adjusting the position control quantity of the electric cylinder according to the displacement value, and further finishing leveling setting.
The invention provides an unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling and a leveling method, which adopt a three-degree-of-freedom leveling structure, and are composed of three high-speed telescopic electric cylinders and a horizontal plate, compared with the traditional three-degree-of-freedom leveling structure, the three electric cylinders are reduced, the space loss of a leveling system to a cabin is reduced, and the space utilization rate of the whole cabin is improved. And the physical structure of the three-cylinder leveling system is upgraded, the inclination angle of each cylinder body and the vertical direction of each cylinder body is increased, so that the three-cylinder leveling system forms a multidirectional triangular stable structure, the stability of the three-cylinder structure is improved, the leveling method parameters are automatically adjusted according to the inclination angle degrees, corresponding parameters can be set through an upper computer of the leveling system, the installation positions of the cylinder body inclination angle and the three cylinder bodies are included, the application scene of a lifting platform is greatly increased, the utilization rate of cabin space is improved, the whole cabin can meet loading requirements, and the unmanned aerial vehicle can realize self lifting along with the operation of a carrier.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling.
Fig. 2 is a schematic structural diagram of an electric cylinder of an unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling.
Fig. 3 is a schematic diagram of the effect of the three-degree-of-freedom-based electric control leveling unmanned aerial vehicle taking-off and landing platform staying and mooring unmanned aerial vehicle.
Fig. 4 is a schematic diagram showing the combination of the electric cylinder and the upper and lower horizontal plates according to the present invention.
Fig. 5 is a schematic view of the gyroscope installation location of the present invention.
Fig. 6 is a schematic diagram of the spatial structure of the hardware structure of the landing platform of the present invention.
FIG. 7 is a functional schematic of portions of the software system of the present invention.
Fig. 8 is a flow chart of a main control procedure of the present invention.
1-upper horizontal plate, 2-lower horizontal plate, 3-electric cylinder, 4-power supply, 5-switch board, 6-gyroscope, 7-laser range finder, 8-electric cylinder stopper, 9-telescopic cylinder body, 10-servo motor, 11-speed reducer, 12-encoder, 13-cross hinge, 14-U type seat, 15-mooring unmanned aerial vehicle, 16-unmanned aerial vehicle anchor clamps, 17-mooring pay-off rack.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, in the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1 to 3, the invention provides an unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling, which comprises a take-off and landing platform hardware structure and a software system, wherein the software system is used for coordinately controlling the take-off and landing platform hardware structure;
as shown in fig. 1, the lifting platform hardware structure comprises an upper horizontal plate 1, a lower horizontal plate 2, three electric cylinders 3, a power supply 4, a control cabinet 5, a gyroscope 6 and a laser range finder 7, wherein two ends of each electric cylinder 3 are respectively fixedly connected with the upper horizontal plate 1 and the lower horizontal plate 2, the upper horizontal plate 1 and the lower horizontal plate 2 are relatively and parallelly arranged, the power supply 4, the control cabinet 5 and the laser range finder 7 are both arranged between the upper horizontal plate 1 and the lower horizontal plate 2, and the gyroscope 6 is arranged on the upper horizontal plate 1.
As shown in fig. 2, each electric cylinder 3 includes an electric cylinder limiter 8, a telescopic cylinder 9, a servo motor 10 and a speed reducer 11, wherein the electric cylinder limiter 8 is located at the top of the telescopic cylinder 9, the axis of the servo motor 10 is parallel to the axis of the telescopic cylinder 9, and the speed reducer 11 is arranged above the servo motor 10.
The electric cylinder 3 is fixedly connected with the upper horizontal plate 1 through a cross hinge 13, and the electric cylinder 3 is fixedly connected with the lower horizontal plate 2 through a U-shaped seat 14.
The three-degree-of-freedom electronic control leveling-based unmanned aerial vehicle take-off and landing platform after the tethered unmanned aerial vehicle 15 is assembled is shown in fig. 3, the tethered unmanned aerial vehicle 15 is fixed above the upper horizontal plate 1 in cooperation with the unmanned aerial vehicle clamp 16, and the tethered line is stored in the tethered pay-off and take-up rack 17.
Specifically, the three electric cylinders adopt a two-stage telescopic structure, the axis of the motor is parallel to the axis of the cylinder body, the servo motor drives the screw rod to rotate after being driven by the gear box, the rotary motion of the motor is converted into the linear motion of the push rod through the screw rod pair, and the position of the push rod is accurately controlled by utilizing the controllability of the servo motor. The electric cylinder bottom reduction gearbox is provided with a double lug earring which is connected with a lower hinged support through a pin shaft, and the lower hinged support is directly arranged on the base. The top of the electric cylinder push rod is provided with a cross hinge assembly, a lower mounting seat of the cross hinge is mounted at the top end of the push rod, and an upper mounting seat is connected with a load mounting table through screws. The cross hinge allows for a yaw angle: 20 deg.. Operating speed: adjustable 0-83.3 mm/s (motor rotation speed 0-1000 rpm).
Fig. 4 is a comparison of different angle views of a combination mode of an electric cylinder and an upper horizontal plate and a lower horizontal plate (hereinafter referred to as an upper platform and a lower platform), wherein the centers of the hinges of the upper platform and the lower platform are at the same vertical position, the diameters of the hinges of the upper platform and the lower platform are different by 100mm, the lower platform is 800mm, the upper platform is 700mm, and the diameters of the circles of the upper platform and the lower platform can be set and updated by an upper computer according to specific installation values. And the central control program reconfigures algorithm parameters according to the setting value of the upper computer and adapts to different installation parameters. The corresponding mounting locations are shown in the figures. The structure that final installation is good is multi-direction triangle-shaped stable structure for equipment remains triangle-shaped structure throughout when carrying out whole linkage is flexible, makes whole more stable, reduces simultaneously by traditional six jar body structures and uses in the space of saving that the stability has been guaranteed in the time of making a smile. And the electric cylinder has high expansion speed, can finish angle adjustment in a short time, and can respond at a high speed when the gyroscope collects angle change. The horizontal position can be provided for the take-off of the unmanned aerial vehicle by keeping the platform horizontal all the time in the motion of the carrier.
Meanwhile, a gyroscope is arranged at a selected position in the installed platform structure, and the space position coordinates of six connecting points at the two ends of the electric cylinder are analyzed according to the angle and the height of the platform by the leveling method, so that the control quantity corresponding to the electric cylinder is calculated.
As shown in fig. 5, fig. 5 is a diagram of installation positions of a gyroscope, and three degrees of freedom of lifting, pitching and rolling of an upper plane in a leveling structure are selected first, so that the degrees of freedom of the gyroscope coincide with the three degrees of freedom of the upper plane. In the figure, the gyroscope is arranged on the back of the upper flat plate, the installation position is shown in the figure, when the gyroscope rotates around the Y axis, the gyroscope correspondingly collects a rolling angle, and when the gyroscope rotates around the X axis, the gyroscope collects a pitch angle. A. And B, C three points are the connection points of the upper end of the electric cylinder and the upper flat plate. When the length of the electric cylinder is changed, the rotation plane of the cylinder body is horizontal to the vertical line of the edges where the other two cylinder bodies are positioned. In order to accurately calculate the space coordinates of three points, the installation positions of the three electric cylinders are shown in the following diagram, the rolling axis of the horizontal plate is a vertical line passing through the point A and the side BC, the rolling axis is horizontal to the Y axis and is on the same flat plate, and the rolling angle acquired by the gyroscope is the rolling angle generated by the upper flat plate. The side BC of the horizontal plate is a pitching axis, is horizontal to the X axis of the gyroscope, and is in the same flat plate, and the pitching angle acquired by the gyroscope at the moment is the pitching angle generated by the horizontal plate. Because the gyroscope is arranged on the water level plate, when the lengths of the three bars are changed, the height of the gyroscope is also changed, and the height information acquired by the gyroscope is the height of the plane plate. The upper panel performs rotation and displacement operations in response to the spatial rotation in combination with the roll, pitch and altitude differences acquired by the gyroscope.
The invention also provides a leveling method of the unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling, which comprises the following steps:
respectively setting a world coordinate system and a dynamic coordinate system;
obtaining homogeneous coordinates of the connection points of the three electric cylinders and the lower horizontal plate in a world coordinate system;
obtaining homogeneous coordinates of the connection points of the three electric cylinders and the upper horizontal plate under a dynamic coordinate system;
obtaining final position coordinates of the connection points of the three electric cylinders and the upper horizontal plate under a world coordinate system through coordinate transformation matrix processing;
calculating to obtain a displacement value of the electric cylinder body;
and adjusting the position control quantity of the electric cylinder according to the displacement value, and further finishing leveling setting.
Specifically, referring to fig. 6, fig. 6 is a schematic space structure diagram of the hardware structure of the landing platform;
as shown, the coordinate system ozz is the world coordinate system and Bwvu is the dynamic coordinate system. The torsion preventing structure belongs to a mechanism reinforcing driven device, and the yaw angle in the Z-axis direction is smaller, so that the mechanism can be omitted for solving convenience. Let isosceles triangle base length be d, the base height be h, platform initial degree of separation be L (above-mentioned parameter also can set up through the host computer for algorithm robustness becomes strong) can know:
a1 The homogeneous coordinates of the points A2 and A3 in the coordinate system OXYZ are as follows:
b1 The homogeneous coordinates of the points B2 and B3 in the coordinate system Bwvu are as follows:
the coordinates of the points B1, B2, B3 in the fixed coordinate system ozz at the initial position are:
the coordinates of the point B in the fixed coordinate system ozz at the initial position are (0, l). The dynamic coordinate system Bwvu can be obtained by rotating the fixed coordinate system OXYZ around the Y axis to obtain a coordinate system ([ X ', ] Y ', ' Z ',) and then rotating the coordinate system around the X ' axis, and finally translating the coordinate system Bwvu along the Z axis of the fixed coordinate system to obtain the Euler transformation angle of the dynamic coordinate system Bwvu. Δz is translational displacement and can be obtained by a gyroscope.
Because the operation is performed with two rotations and one translation, the coordinate transformation matrix T of the operation is obtained by combining the translation rotation transformation matrix as follows:
b1 The T matrix is multiplied by three point coordinates of B2 and B3 to obtain the three-point coordinate matrix; the final position coordinates [ B1' B2' B3' ] after the angle of αβ is rotated. The displacement of the cylinder can be obtained from the above conditions.
The cylinder displacement al is:
and outputting the position control quantity of the electric cylinder by the central control according to the obtained cylinder displacement. The length of the electric cylinder is changed, each cylinder body is inclined, the flat plate connecting point is pulled down or lifted up, three connecting points in the upper plane reach the position after the angle alpha and beta are rotated, the platform is rotated and translated twice at the moment, and if leveling is needed, the platform angle can be leveled only by reversing data acquired by the gyroscope.
Further, the software system comprises an upper computer part, a main control part and an electric cylinder control program part.
Referring to fig. 7, the upper computer part: and mainly finishing the functions of information display, parameter setting and equipment debugging. Wherein the parameter setting is mainly the self parameters of the leveling system and the parameters after installation. The self parameters include cylinder length, stroke, speed and minimum height. The installed parameters comprise the inclination angle of the cylinder body, the circular radius of the upper connecting point of the cylinder body and the circular radius of the lower connecting point of the cylinder body. The display information mainly displays video information transmitted back by the camera, and the cylinder body information comprises the current position, whether faults exist or not and standby power supply state information. The device debugging function mainly can independently adjust the lengths of the three cylinder bodies and the angle of the platform through the upper computer.
A main control part: the flow chart of the main control program is shown in fig. 8, the main control program runs in the main control cabinet, the program can communicate with the whole system and detect the state of equipment after power-on, local information is loaded after self-checking is finished and used for updating the leveling method of the leveling platform, if the upper computer changes related parameters, the main control program can update the local parameters to be saved from new, and the platform can maintain the state to work before power-off when power-off and power-on are performed normally. If the data is not parameter setting, but control command, the data can come from the debugging test of an upper computer or the feedback data of a gyroscope sensor, the control command or the feedback data with input is used for calculating the control quantity, the control of the electric cylinder of the platform is completed, and the correction of the position of the electric cylinder is stopped when the feedback position of the electric cylinder is received. Meanwhile, the main control program can collect information of the laser range finder, and can automatically discard the operation when the electric cylinder is blocked from advancing by an obstacle under the condition of overscan or in the presence of obstacle, and report the operation to the upper computer in a warning mode.
The electric cylinder control program part mainly comprises the control of a servo driver, after receiving the position control quantity output by the main control program, the electric cylinder control program part forms position residual information with position feedback information, then outputs speed control quantity through a position loop controller, forms speed residual information with speed feedback, controls output current control quantity through a speed loop, finally forms current residual information with current feedback, controls output current control quantity to act on a motor through a current loop, controls the motor to operate, and drives a lead screw to drive actively through motor rotation, thereby changing the length of a cylinder body. The encoder collects motor information, generates position and speed feedback, and the current measurement module generates current feedback. The position loop controller is a PD controller, and the speed loop and the current loop are PID controllers.
In summary, compared with the lifting platform in the traditional cabin, the invention has the following advantages:
1. the three-cylinder stabilizing structure (a triangular stabilizing structure is formed by the included angle between the cylinder body and the vertical line, the angle can be modified in a certain range, and the number of half of the cylinder bodies is reduced while stabilizing, so that the occupancy of the structural space is reduced, and the space of the structure can also provide a certain space for installing other equipment);
2. a power-off protection function (a lifting leveling function of a system standby power supply maintenance leveling platform under power off);
3. the three-degree-of-freedom leveling system leveling method with adjustable parameters;
4. the three-degree-of-freedom dynamic leveling system (the three degrees of freedom comprise lifting, pitching, rolling, pitching and height electric cylinders realize the dynamic leveling function and ensure the application requirement of the carrier in moving.
The above disclosure is only a preferred embodiment of the present invention, and it should be understood that the scope of the invention is not limited thereto, and those skilled in the art will appreciate that all or part of the procedures described above can be performed according to the equivalent changes of the claims, and still fall within the scope of the present invention.
Claims (7)
1. An unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling is characterized in that,
the system comprises a take-off and landing platform hardware structure and a software system, wherein the software system is used for coordinately controlling the take-off and landing platform hardware structure;
the lifting platform hardware structure comprises an upper horizontal plate, a lower horizontal plate, three electric cylinders, a power supply, a control cabinet, a gyroscope and a laser range finder, wherein each electric cylinder is respectively fixedly connected with the upper horizontal plate and the lower horizontal plate at two ends, the upper horizontal plate and the lower horizontal plate are relatively arranged in parallel, the power supply is used for controlling the control cabinet and the laser range finder to be arranged between the upper horizontal plate and the lower horizontal plate, and the gyroscope is arranged on the upper horizontal plate.
2. The unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling according to claim 1, wherein,
each electric cylinder comprises an electric cylinder limiter, a telescopic cylinder body, a servo motor and a speed reducer, wherein the electric cylinder limiter is positioned at the top of the telescopic cylinder body, the axis of the servo motor is parallel to the axis of the telescopic cylinder body, and the speed reducer is arranged above the servo motor.
3. The unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling according to claim 2, wherein,
the electric cylinder is fixedly connected with the upper horizontal plate through a cross hinge, and the electric cylinder is fixedly connected with the lower horizontal plate through a U-shaped seat.
4. The unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling according to claim 3, wherein,
the three cross hinges are uniformly distributed on one platform circle of the upper horizontal plate at 120-degree intervals, and the three U-shaped seats are uniformly distributed on one platform circle of the lower horizontal plate at 120-degree intervals.
5. The unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling according to claim 4, wherein,
the circle centers of the platform circles of the upper horizontal plate and the lower horizontal plate are positioned at the same vertical position.
6. The unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling according to claim 1, wherein,
the software system comprises an upper computer part, a main control part and an electric cylinder control program part, wherein the upper computer part is responsible for finishing information display, parameter setting and equipment debugging functions, the main control part is used for receiving setting parameters, acquiring sensor data, updating a leveling method of a leveling platform and outputting electric cylinder position control quantity, and the electric cylinder control program part is used for controlling a servo motor.
7. A method for leveling an unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling, which adopts the unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling as claimed in any one of claims 1 to 6, and is characterized by comprising the following steps:
respectively setting a world coordinate system and a dynamic coordinate system;
obtaining homogeneous coordinates of the connection points of the three electric cylinders and the lower horizontal plate in a world coordinate system;
obtaining homogeneous coordinates of the connection points of the three electric cylinders and the upper horizontal plate under a dynamic coordinate system;
obtaining final position coordinates of the connection points of the three electric cylinders and the upper horizontal plate under a world coordinate system through coordinate transformation matrix processing;
calculating to obtain a displacement value of the electric cylinder body;
and adjusting the position control quantity of the electric cylinder according to the displacement value, and further finishing leveling setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310244195.3A CN116353875A (en) | 2023-03-15 | 2023-03-15 | Unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling and leveling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310244195.3A CN116353875A (en) | 2023-03-15 | 2023-03-15 | Unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling and leveling method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116353875A true CN116353875A (en) | 2023-06-30 |
Family
ID=86927163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310244195.3A Pending CN116353875A (en) | 2023-03-15 | 2023-03-15 | Unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling and leveling method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116353875A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116893627A (en) * | 2023-09-08 | 2023-10-17 | 江苏普旭科技股份有限公司 | Motion platform pose control method and device based on iteration step length and storage medium |
| CN117645010A (en) * | 2024-01-30 | 2024-03-05 | 西安中创博远网络科技有限公司 | Unmanned flight platform of survey and drawing |
-
2023
- 2023-03-15 CN CN202310244195.3A patent/CN116353875A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116893627A (en) * | 2023-09-08 | 2023-10-17 | 江苏普旭科技股份有限公司 | Motion platform pose control method and device based on iteration step length and storage medium |
| CN116893627B (en) * | 2023-09-08 | 2023-12-08 | 江苏普旭科技股份有限公司 | Motion platform pose control method and device based on iteration step length and storage medium |
| CN117645010A (en) * | 2024-01-30 | 2024-03-05 | 西安中创博远网络科技有限公司 | Unmanned flight platform of survey and drawing |
| CN117645010B (en) * | 2024-01-30 | 2024-03-29 | 西安中创博远网络科技有限公司 | Unmanned flight platform of survey and drawing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116353875A (en) | Unmanned aerial vehicle take-off and landing platform based on three-degree-of-freedom electric control leveling and leveling method | |
| CN203258324U (en) | Cradle head adjusting mechanism | |
| CN109367525A (en) | One kind is based on six point-supported large-scale car body automatic horizontal control systems and method | |
| CN104648667B (en) | Aircraft | |
| CN109159914A (en) | Unmanned plane with rotary inertia compensation function debugs platform | |
| CN109084149A (en) | A kind of electromechanical automatic leveling rotating base | |
| WO2013107124A1 (en) | System and method for operation and control of mechanical arm and engineering machinery | |
| CN104728566A (en) | Rotation lifting leveling mechanism | |
| WO2022037013A1 (en) | Balance hoisting apparatus, vehicle-mounted exchange box system and multi-oil-cylinder synchronization method | |
| CN107052735A (en) | Self-adapting flexible dress calibration system based on self-balancing | |
| CN115781605A (en) | Multifunctional overturning and butting system and using method | |
| CN111562792A (en) | Airplane pitch angle adjusting control device and working method thereof | |
| CN112440858B (en) | Outdoor carriage expansion adjusting mechanism and using method | |
| CN205209730U (en) | Wind -tunnel bearing structure | |
| CN218400986U (en) | Small wind resistance airborne hanging cabin for helicopter | |
| CN111734140B (en) | Pump truck arm support rotation control method and device and pump truck | |
| CN109867213A (en) | A kind of high altitude operation special purpose vehicle capstan head levelling device | |
| CN206825466U (en) | A kind of automatically controlled head of multiple degrees of freedom for mobile platform | |
| CN109573034A (en) | Jack and unmanned plane | |
| CN210122152U (en) | Leveling device and tractor | |
| CN206976556U (en) | Automatic leveling tripod | |
| CN110044344A (en) | A kind of vehicle-mounted sweep test frame plotting board | |
| CN221121597U (en) | Adjustable wireless video monitoring structure of mobile robot is patrolled and examined in mill | |
| CN109270944A (en) | A kind of attitude flight control system of quadrotor | |
| CN219154750U (en) | Top-mounted equipment capable of adapting to aircraft posture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |