CN105818966B - The landing fixing device and its fixing means of unmanned vehicle - Google Patents
The landing fixing device and its fixing means of unmanned vehicle Download PDFInfo
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- CN105818966B CN105818966B CN201610176885.XA CN201610176885A CN105818966B CN 105818966 B CN105818966 B CN 105818966B CN 201610176885 A CN201610176885 A CN 201610176885A CN 105818966 B CN105818966 B CN 105818966B
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- unmanned vehicle
- landing
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- energizing apparatus
- fixing device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/001—Devices not provided for in the groups B64C25/02 - B64C25/68
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- 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
- B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The landing fixing device and its fixing means of a kind of unmanned vehicle, the landing fixing device of unmanned vehicle includes the fixing device (2) for being used to carry the landing stage (1) of the unmanned vehicle of landing and being located on unmanned vehicle, the fixing device (2) includes sensor (3), energizing apparatus (4) and electromagnet core (5), the sensor (3) detects that the unmanned vehicle is in landing state and sends approaching signal to the energizing apparatus (4), the energizing apparatus (4) for connecting the sensor (3) causes unmanned vehicle to be adsorbed via the electromagnet core (5) on the landing stage (1) based on the approaching signal to the electromagnet core (5) excitation.
Description
Technical field
The invention belongs to unmanned vehicle field, landing fixing device more particularly to a kind of unmanned vehicle and its solid
Determine method.
Background technology
With the degree more and more higher of UAV Intelligent, unmanned plane is taking off, navigation, and the various flight links such as landing are equal
The manipulation of automation can be achieved, human intervention is fewer and fewer so that unmanned plane controls a frame all the time from the previous player's control of mesh
The consumption quasi-mode of unmanned plane is changed to the business application pattern such as extensive express delivery, but in this large-scale commercial applications
Under application model, every frame unmanned plane is no longer to be in all the time in manual control, is many times needed autonomous automatically to some scenes
Tackled.For example, aircraft may not be reclaimed immediately after landing, it is contemplated that unmanned plane own wt is lighter, ground
Even if the little wind of intensity is likely to so that unmanned plane is during this period of time moved, rollover etc., so as to be caused to fuselage
Damage.The present invention proposes to assist fixed unmanned plane in an electromagnetic manner, to the peace of unmanned plane itself during recovery after raising landing
Quan Xing.
A kind of depopulated helicopter Zhe Jian mechanisms disclosed in patent document CN104443412, including transverse axis, described transverse axis one end
Column is connected with, the transverse axis is provided with magnetic fixing with column junction, and the magnetic fixing lower end is provided with joint
Bearing, the oscillating bearing lower end are connected with electromagnet；Magnetic fixing top side is connected with lower link, the lower company
Bar top is connected with upper connecting rod；The upper connecting rod is connected with the column clip being arranged on column；The magnetic fixing side
Face is connected with revolving bed, and the revolving bed is connected with the transverse axis clip being arranged on transverse axis；The magnetic fixing top is set
It is equipped with magnetic clamp part.The patent can give this dress when aircraft is dropped to above deck by the way that autopilot is slow by ground handling operator
Energization is put, four electromagnetism strong magnets after energization positioned at undercarriage can firmly adsorb helicopter in deck in ship structure, inhale
During attached this mechanical structure can self-control height in order to more stably warship.Although the patent adsorbs warship by electromagnet
Plate is fixed, but the patent is only used for warship, and application is small and complicated；The patent can not allow unmanned vehicle land after from
Fix dynamicly, it is necessary to which ground handling operator is powered；Inhaled moreover, the patent can not neatly tackle different wind-force sizes and then adjust
The size of attached power is to keep appropriate absorption affinity and unmanned vehicle is fixed and ensured.
A kind of rotary wind type unmanned plane with damping undercarriage disclosed in patent document CN203854854, including rotary wind type without
Man-machine main body (1), rotor support (2), rotor (3), secured core (4), upper positioning inductor (5), electromagnet (6), lower positioning
Inductor (7), upper backup pad (8), lower supporting plate (9), support spring (10) and damping sucker (11), the rotary wind type unmanned plane
There is a rotor support (2) main body (1) side, the rotor support (2) angularly around rotary wind type unmanned plane main body (1) center one week,
The rotor (3) is fixed on corresponding rotor support (2) by rotating shaft, it is characterised in that：The rotary wind type unmanned plane main body
(1) secured core (4) and groove are arranged at bottom, and the groove of rotary wind type unmanned plane main body (1) bottom is angularly around secured core (4) one
Week, the upper positioning inductor (5) are fixed in the groove of rotary wind type unmanned plane main body (1) bottom, had on the upper backup pad (8)
Electromagnet (6) and groove, the electromagnet (6) have secured core (4) to insert at upper backup pad (8) center in the electromagnet (6)
Hole is filled, it is lower fixed that the groove on the upper backup pad (8) angularly has in the groove on electromagnet (6) one weeks, the upper backup pad (8)
Position inductor (7), described each lower corresponding one upper positioning inductor (5) of positioning inductor (7), the upper backup pad (8) with
There is support spring (10) between lower supporting plate (9), damping sucker (11) is arranged at lower supporting plate (9) bottom.The patent can play
Very big damping effect, and damping undercarriage is fixed on rotary wind type uav bottom and the landing of unmanned plane one to be detachable
Fall, may also placed in canoe or fixed location and used as pinpoint landing, used extremely convenient.But the patent can not allow nothing
It is automatically fixed, it is necessary to which ground handling operator is powered after people's aircraft lands；Moreover, the patent can not neatly tackle different wind
Power size and then the size of absorption affinity is adjusted to keep appropriate absorption affinity and unmanned vehicle is fixed and ensured.
Therefore, urgent need technical problems to be solved in this area are：A kind of landing that can be applied in a variety of occasions is provided
Unmanned vehicle fixing device afterwards, the fixing device can allow unmanned vehicle automatically to be fixed after landing, be grasped without personnel
Make；The fixing device can automatically be released before unmanned vehicle standby for takeoff and fixed；Moreover, the patent can be tackled neatly
Different wind-force sizes and then the size of absorption affinity is adjusted to keep appropriate absorption affinity and to cause unmanned vehicle to fix
Ensure, further, the opportunity of magnetic-adsorption can open when being drop to judging unmanned vehicle close to platform
Dynamic, one is better able to help unmanned vehicle accurately to drop to place undetermined, and is advantageous to, and avoids present small miniature nothing
People's aircraft is in descent, due to caused by mechanical stress, the dipping and heaving in level point, the concussion of this fuselage for
The stability of body has injury, directly grabs the mode got off now, although being slightly increased landing impulse force, avoids coming
Concussion is returned, is favourable in general.Disclosed above- mentioned information is used only for enhancing to the present invention back of the body in the background section
The understanding of scape, it is thus possible to include the information of prior art known to a person of ordinary skill in the art in not forming home.
The content of the invention
The purpose of the present invention is to be achieved by the following technical programs.
According to the first aspect of the invention, a kind of landing fixing device of unmanned vehicle disclosed by the invention includes being used for
The fixing device for carrying the landing stage of the unmanned vehicle of landing and being located on unmanned vehicle, the fixing device include
Sensor, energizing apparatus and electromagnet core, the sensor detect that the unmanned vehicle is in landing state and sent
For approaching signal to the energizing apparatus, the energizing apparatus for connecting the sensor is based on the approaching signal to the electromagnet iron
Core excitation causes unmanned vehicle via electromagnet core absorption on the landing stage.The landing stage is via electromagnetism
The load bearing component of absorption, for example, it can be made up of metals such as the iron, cobalt, nickel of electromagnetic adsorption.
Preferably, the landing stage is iron loading end, it is highly preferred that the landing stage is iron load plane.
Preferably, the electromagnet core is that the unmanned vehicle undercarriage or the electromagnet core are located at the nothing
On people's aircraft landing gear.
Preferably, the sensor detect the unmanned vehicle be in starting state and sending enable signals to it is described
Energizing apparatus, connect the electromagnet core demagnetization of the energizing apparatus of the sensor based on the enabling signal to excitation
So that unmanned vehicle desorbs on the landing stage.
Preferably, the sensor is the current sensor being located in unmanned vehicle circuit, when the current sensor
Electric current is not detected by, then sends approaching signal to the energizing apparatus, when the current sensor detects electric current, then transmission is opened
Signal is moved to the energizing apparatus.
According to the second aspect of the invention, a kind of landing fixing device of unmanned vehicle includes being used for the institute for carrying landing
The landing stage of unmanned vehicle and the electromagnetism fixture being located on unmanned vehicle are stated, the landing stage is provided with sensor and encouraged
Magnetic machine, the sensor detect that the unmanned vehicle is in landing state and sends approaching signal and set to the excitation
It is standby, connect the energizing apparatus of the sensor based on the approaching signal landing stage excitation is caused unmanned vehicle via
The electromagnetism fixture absorption is on the landing stage.Because sensor and energizing apparatus are located on loading end, nobody is alleviated
The weight of aircraft.The electromagnetism fixture is the fixture being made up of metals such as the iron, cobalt, nickel of electromagnetic adsorption.Preferably, institute
It is iron fixture to state electromagnetism fixture.
Preferably, the sensor is the feeler or Distance-sensing being located on the unmanned vehicle undercarriage
Device.
Preferably, the energizing apparatus includes the DC coil for winding the electromagnet core.
Preferably, the sensor is range sensor, at sensor detects unmanned vehicle from the landing stage
In in preset distance, the sensor sends approaching signal to the energizing apparatus, connects the energizing apparatus base of the sensor
Cause unmanned vehicle absorption on the landing stage in the approaching signal excitation.
Preferably, the landing stage further comprises the wind sensor for monitoring wind-force, and the energizing apparatus includes processing
Device, intensity of the processor based on wind-force size adjustment excitation.
Preferably, the energizing apparatus is provided with power supply and/or switch.
Preferably, the energizing apparatus is provided with wireless communication module, and user controls the energizing apparatus via radio communication.
According to the third aspect of the invention we, the fixation side of the landing fixing device of the unmanned vehicle described in a kind of use
Method, it comprises the following steps.
In first step, the sensor detects the unmanned vehicle state.
In second step, when unmanned vehicle is in landing state, the sensor sends approaching signal to the excitation
Equipment, the energizing apparatus excitation for connecting the sensor cause unmanned vehicle to adsorb on the landing stage.
In third step, when the sensor detects that the unmanned vehicle is in starting state, the sensor hair
Send and enable signals to the energizing apparatus, the energizing apparatus demagnetization for connecting the sensor causes unmanned vehicle in the landing
Desorbed on platform.
Scheme proposed by the present invention detects the state of unmanned vehicle by sensor, passes through energizing apparatus excitation or demagnetization
So that electromagnet core is adsorbed or desorbed on landing stage, the landing fixing device is that one kind can be applied in a variety of occasions
Landing after unmanned vehicle fixing device, the fixing device can allow unmanned vehicle land after automatically fix, without
Human users；The fixing device can automatically be released before unmanned vehicle standby for takeoff and fixed；Moreover, the patent can be flexible
Tackle different wind-force sizes and then adjust the size of absorption affinity to keep appropriate absorption affinity and so that unmanned vehicle is consolidated in ground
It is fixed to have ensured, in addition, the opportunity of magnetic-adsorption can open when being drop to judging unmanned vehicle close to platform
It is dynamic, preferably help unmanned vehicle accurately to drop to place undetermined and avoid the concussion back and forth of landing.
Brief description of the drawings
Fig. 1 is the structural representation of the landing fixing device of unmanned vehicle according to an embodiment of the invention.
Fig. 2 is the structural representation of the landing fixing device of unmanned vehicle in accordance with another embodiment of the present invention.
Fig. 3 is the structural representation of the landing fixing device of unmanned vehicle in accordance with another embodiment of the present invention.
Fig. 4 is the step of the fixing means of the landing fixing device according to an embodiment of the invention using unmanned vehicle
Rapid schematic diagram.
The present invention is further explained below in conjunction with drawings and examples.
Embodiment
It is described in detail below be actually only it is exemplary and be not intended to limit application and use.In addition, it is not intended to
By any clear and definite of above technical field, background, brief overview or middle presentation described in detail below or the theoretical constraint implied.
A kind of landing fixing device of unmanned vehicle is present embodiments described, it is as shown in Figure 1 according to this hair
The schematic diagram of the landing fixing device of the unmanned vehicle of bright one embodiment, the landing fixing device of unmanned vehicle include
For the landing stage 1 and the fixing device 2 being located on unmanned vehicle, the fixed dress of the unmanned vehicle for carrying landing
Putting 2 includes sensor 3, energizing apparatus 4 and electromagnet core 5, and the sensor 3 detects that the unmanned vehicle is in and landed
State simultaneously sends approaching signal to the energizing apparatus 4, and the energizing apparatus 4 for connecting the sensor 3 is based on the approaching signal
Unmanned vehicle is adsorbed on the landing stage 1 via the electromagnet core 5 excitation of electromagnet core 5.
In one embodiment, landing stage 1 can individually be lain in a horizontal plane in ground or be flatly incorporated in
In other equipment, such as roof etc..In some cases, landing stage 1 can also be inclined.Landing stage 1 is made up of steel plate, its
It can also be made up of the compound other materials of steel plate.
In one embodiment, the electromagnet core 5 is the unmanned vehicle undercarriage or the electromagnet core 5
It is located on the unmanned vehicle undercarriage.Further, fixing device 2 can set multiple electromagnet cores 5 to strengthen absorption
Effect.
In the art, unmanned vehicle is preferably more rotary wind type unmanned vehicles.
In one embodiment, the sensor 3 detects that the unmanned vehicle is in starting state and sends startup
Signal to the energizing apparatus 4, connect the energizing apparatus 4 of the sensor 3 based on the enabling signal to excitation described in
The demagnetization of electromagnet core 5 causes unmanned vehicle to be desorbed on the landing stage 1.
Therefore, when unmanned vehicle is dropped on landing stage 1, the state of unmanned vehicle can be detected by sensor
In landing state, energizing apparatus 4 is triggered, so that electromagnet core produces magnetic so that unmanned vehicle relies on magnetic absorption
On landing stage 1, then, sensor 3 detects that the unmanned vehicle is in starting state and sent and enables signals to described encourage
Magnetic machine 4, connect the electromagnet core 5 of the energizing apparatus 4 of the sensor 3 based on the enabling signal to excitation and disappear
Magnetic causes unmanned vehicle to be desorbed on the landing stage 1.It will be clear to someone skilled in the art that then in recovery,
User can also rely on the switch of the connection energizing apparatus 4 of unmanned vehicle or control the flight controller hand of energizing apparatus 4
Dynamic control stops energizing apparatus 4 and run, and magnetic disappears.For example, after user receives instruction of taking off, the flight control of unmanned vehicle
Device control stops energizing apparatus 4 and run, and magnetic disappears, and subsequent unmanned vehicle performs instruction of taking off.
In one embodiment, the sensor for detecting the state of unmanned vehicle can be located in unmanned vehicle circuit
Current sensor, when the current sensor is not detected by electric current, then sends approaching signal to the energizing apparatus 4, work as institute
State current sensor and detect electric current, then send and enable signals to the energizing apparatus 4.
In one embodiment, the sensor for detecting the state of unmanned vehicle can be located at the unmanned vehicle to rise
Fall the feeler on frame, when feeler detects contact landing stage 1 and sends approaching signal to the energizing apparatus
4, the energizing apparatus 4 for connecting the sensor 3 causes unmanned flight based on the approaching signal to the excitation of electromagnet core 5
Device is adsorbed on the landing stage 1 via the electromagnet core 5.
In one embodiment, the sensor for detecting the state of unmanned vehicle can be located at the unmanned vehicle to rise
Fall the range sensor on frame, when range sensor detects height of the height in landing stage 1 and sends approaching signal to institute
Energizing apparatus 4 is stated, connect the energizing apparatus 4 of the sensor 3 is made based on the approaching signal to the excitation of electromagnet core 5
Unmanned vehicle is obtained to adsorb on the landing stage 1 via the electromagnet core 5.
In one embodiment, the energizing apparatus 4 includes the DC coil for winding the electromagnet core 5.
The schematic diagram of the landing fixing device of unmanned vehicle according to an embodiment of the invention as shown in Figure 2,
The landing fixing device of unmanned vehicle includes being used to carry the landing stage 1 of the unmanned vehicle of landing and being located at nobody flying
Fixing device 2 on row device, the fixing device 2 include sensor 3, energizing apparatus 4 and electromagnet core 5, the sensor 3
Detect that the unmanned vehicle is in landing state and sends approaching signal to the energizing apparatus 4, connect the sensor 3
Energizing apparatus 4 cause unmanned vehicle via the electromagnet excitation of electromagnet core 5 based on the approaching signal
Iron core 5 is adsorbed on the landing stage 1, and the sensor 3 further comprises the wind sensor for monitoring wind-force, and the excitation is set
Standby 4 include processor 6, intensity of the processor 6 based on wind-force size adjustment excitation.
In another embodiment, the wind sensor may be provided on landing stage 1, the induced environment of wind sensor 1
The size of wind-force, because ambient wind is possible to the main factor that causes unmanned vehicle to be subjected to displacement, therefore, in environment
When wind-force is larger, then the corresponding enhancing output power of processor 6, strengthens the effect of magnetic adsorptive power, more firm so as to realize
The fixed effect leaned on.And it is smaller in ambient wind, even without when, then only need to keep magnetic adsorptive power default at one
Threshold value more than, the necessary adsorption to unmanned vehicle can be kept.For example, the necessary absorption affinity can pass through sample
The mode of this sampling or test obtains, when going to drive energizing apparatus to adsorb nobody with the electric energy supplying energy intensity of level X
During aircraft, only when horizontal ambient wind reaches Y levels, the unmanned vehicle, which will be handled, departs from magnetic-adsorption stationary state
Critical condition, now on the basis of the electric energy supply intensity of the level X, one intensity of increase is X1 energy supply intensity, it is ensured that
Under Y level wind-force, unmanned vehicle can be firmly fixed, and so be assured that wind-force Y energy corresponding with magnetic adsorbability F
Corresponding relation between grade X+X1, the wind conditions of different situations are measured in a similar way, you can be used for
The data table of comparisons of wind sensor is driven, and according to the data table of comparisons, establishes dynamic absorption affinity adjustment.
The signal of the landing fixing device of unmanned vehicle according to another embodiment of the invention as shown in Figure 3
Figure, a kind of landing fixing device of unmanned vehicle include being used to carry the landing stage 1 of the unmanned vehicle of landing and set
Electromagnetism fixture on unmanned vehicle, the landing stage 1 are provided with sensor 3 and energizing apparatus 4, and the sensor 3 is examined
Measure the unmanned vehicle to be in landing state and send approaching signal to the energizing apparatus 4, connect the sensor 3
Energizing apparatus 4 causes unmanned vehicle to be inhaled via the electromagnetism fixture excitation of landing stage 1 based on the approaching signal
It is attached on the landing stage 1.
In one embodiment, the sensor 3 is range sensor, when sensor 3 detects unmanned vehicle from institute
State landing stage 1 to be in preset distance, the sensor 3 sends approaching signal to the energizing apparatus 4, connects the sensor
3 energizing apparatus 4 causes unmanned vehicle absorption on the landing stage 1 based on the approaching signal excitation.Magnetic-adsorption
Opportunity can start when being drop to judging unmanned vehicle close to platform, in other words, unmanned vehicle from
Loading end for example also have 10cm such apart from when, unmanned vehicle is grabbed by magnetic-adsorption, benefit is mainly
Two, one be better able to help unmanned vehicle accurately drop to place undetermined, another be avoid now it is small miniature
Unmanned vehicle is in descent, due to caused by mechanical stress, the dipping and heaving in level point, and the concussion pair of this fuselage
There is injury in the stability of body, directly grab the mode got off now, although being slightly increased landing impulse force, avoid
Shake back and forth, be favourable in general.
In one embodiment, the energizing apparatus 4 is provided with power supply and/or switch.User can be opened by switch or power supply
Open or close and carry out excitation and demagnetization.
In one embodiment, when user's remotely pilotless aircraft, the energizing apparatus 4 is provided with wireless communication module 7,
User controls the energizing apparatus 4 via radio communication.Therefore, the invention provides a variety of control models with applied to difference
Use pattern.
In one embodiment, processor 6 can include general purpose processing device, digital signal processing appts, special integrated
Circuit ASIC, on-site programmable gate array FPGA, analog circuit, digital circuit, and combinations thereof or other known or exploitations later
Processing equipment.
In one embodiment, processor 6 may include memory cell, and it can store a variety of wind-force and pair of magnetic field intensity
Data are answered, memory cell can be volatile memory or nonvolatile memory.Memory cell can include one or more
Read only memory ROM, random access memory ram, flash memory, Electrical Erasable programmable read only memory EEPROM or
Other types of memory, the processor 6 can be provided with wireless communication module 7, and the break-make of user is instructed via the channel radio
Letter module 7 is sent to energizing apparatus 4.
In one embodiment, the wireless communication module 7 is by selected from the wireless LAN communication with different prioritys
Equipment, mobile communication network device, the Stratosphere Communication network equipment and satellite network communications equipment composition group in one or
Multiple compositions.
In one embodiment, mobile communication network device is mainly made up of 2G/3G/4G wireless communication chips groups, is responsible for
Flight control assemblies and the mutual radio communication of unmanned vehicle are established by mobile communications network.Wireless LAN communication
Equipment can be one in bluetooth, ZigBee or Wi-Fi devices, and wireless local equipment can be established short by 2.4GHz communication frequencys
Distance communication, indoors or low speed movement outdoor environment can preferably the equipment establish unmanned vehicle and flight control assemblies it
Between communication connection.Stratosphere Communication equipment typically by the use of helium-airship, balloon as placement repeater station platform, podium level away from
Ground 17km~22km, unmanned vehicle in a wide range of field flight, can preferably Stratosphere Communication establish unmanned vehicle
Communication connection between flight control assemblies.Satellite communication equipment establishes unmanned vehicle and flight using satellite communication channel
Communication connection between control device, usually in the case of without other available wireless communication networks, satellite communication can be used
Device, as emergency communication.
In one embodiment, according to wireless network cost or wireless network access speed, wireless-transmission network is selected, this
Apply for being precedence scheme below design, Wi-Fi network：Priority is 0；4G wireless networks：Priority is 1；3G wireless networks：
Priority is 2；Stratosphere Communication network：Priority is 3；Satellite communication network：Priority is 4；Priority level 0-4, it is selected
Wireless network priority from high to low, i.e., if a variety of wireless signals simultaneously be present, and when signal intensity is effective, flight control dress
Wi-Fi network can be selected first as Radio Access Network by putting the radio communication mutual with unmanned vehicle；When Wi-Fi believes
When number intensity is invalid, radio communication can the second choice of opimization 4G networks as Radio Access Network；The like.
Referring to Fig. 4, the landing fixing device of the unmanned vehicle described in use according to an embodiment of the invention is consolidated
The method of determining comprises the following steps.
In first step S1, the sensor 3 detects the unmanned vehicle state.
In second step S2, when unmanned vehicle is in landing state, the sensor 3 sends approaching signal and encouraged described in
Magnetic machine 4, the excitation of energizing apparatus 4 for connecting the sensor 3 cause unmanned vehicle to adsorb on the landing stage 1.
In third step S3, when the sensor 3 detects that the unmanned vehicle is in starting state, the sensor
3 transmissions enable signals to the energizing apparatus 4, and the demagnetization of energizing apparatus 4 for connecting the sensor 3 causes unmanned vehicle in institute
State and desorbed on landing stage 1.
In this method, user can detect whether unmanned vehicle lands and/or prepare to start with sensor, and energizing apparatus is encouraged
Magnetic or demagnetization cause electromagnet core to adsorb or desorb on landing stage, and unmanned vehicle is automatically fixed to drop to realize
Fall on platform, further, this method can automatically adjust magnetic field intensity to control the size of absorption affinity to cause according to wind-force size
The fixation that absorption affinity is in appropriate scope and unmanned vehicle is ensured.
Although embodiment of the present invention is described above in association with accompanying drawing, the invention is not limited in above-mentioned
Specific embodiments and applications field, above-mentioned specific embodiment are only schematical, directiveness, rather than restricted
's.One of ordinary skill in the art is under the enlightenment of this specification and in the scope for not departing from the claims in the present invention and being protected
In the case of, the form of many kinds can also be made, these belong to the row of protection of the invention.
Claims (10)
1. a kind of landing fixing device of unmanned vehicle, it includes the landing stage for being used to carry the unmanned vehicle of landing
And the fixing device (2) that is located on unmanned vehicle (1), it is characterised in that：
The fixing device (2) includes sensor (3), energizing apparatus (4) and electromagnet core (5), sensor (3) detection
Landing state is in the unmanned vehicle and sends approaching signal to the energizing apparatus (4), connects the sensor (3)
Energizing apparatus (4) cause unmanned vehicle via the electricity electromagnet core (5) excitation based on the approaching signal
Pole core (5) is adsorbed on the landing stage (1).
2. the landing fixing device of unmanned vehicle according to claim 1, it is characterised in that：The electromagnet core
(5) unmanned vehicle undercarriage or to be individually located on unmanned vehicle undercarriage.
3. the landing fixing device of unmanned vehicle according to claim 1, it is characterised in that：The energizing apparatus (4)
To wind the DC coil of unmanned vehicle undercarriage.
4. the landing fixing device of unmanned vehicle according to claim 1, it is characterised in that：The energizing apparatus (4)
Provided with wireless communication module (7), user controls the energizing apparatus (4) via radio communication.
5. the landing fixing device of unmanned vehicle according to claim 1, it is characterised in that：The sensor (3) is
Range sensor, when sensor (3) detects that unmanned vehicle is in preset distance from the landing stage (1), the sensing
Device (3) sends approaching signal to the energizing apparatus (4), and the energizing apparatus (4) for connecting the sensor (3) is based on the landing
Signal excitation causes unmanned vehicle absorption on the landing stage (1).
6. the landing fixing device of unmanned vehicle according to claim 1, it is characterised in that：Sensor (3) inspection
Measure the unmanned vehicle be in starting state and send enable signals to the energizing apparatus (4), connect the sensor
(3) electromagnet core (5) demagnetization of energizing apparatus (4) based on the enabling signal to excitation causes unmanned vehicle
Desorbed on the landing stage (1).
7. a kind of landing fixing device of unmanned vehicle, it includes the landing stage for being used to carry the unmanned vehicle of landing
And the electromagnetism fixture that is located on unmanned vehicle (1), it is characterised in that：
The landing stage (1) is provided with sensor (3) and energizing apparatus (4), and the sensor (3) detects the unmanned flight
Device is in landing state and sends approaching signal to the energizing apparatus (4), connects the energizing apparatus (4) of the sensor (3)
Unmanned vehicle is caused to be adsorbed via the electromagnetism fixture described to the landing stage (1) excitation based on the approaching signal
On landing stage (1).
8. the landing fixing device of unmanned vehicle according to claim 7, it is characterised in that：The sensor (3) is
Feeler.
9. the landing fixing device of unmanned vehicle according to claim 7, it is characterised in that：The landing stage (1) is entered
One step includes the wind sensor of monitoring wind-force, and the energizing apparatus (4) includes processor (6), and the processor (6) is based on wind
Power size adjusts the intensity of excitation.
A kind of 10. fixation side of the landing fixing device of unmanned vehicle of use according to any one of claim 1-9
Method, it comprises the following steps：
In first step (S1), the sensor (3) detects the unmanned vehicle state；
In second step (S2), when unmanned vehicle is in landing state, the sensor (3) sends approaching signal and encouraged described in
Magnetic machine (4), energizing apparatus (4) excitation for connecting the sensor (3) cause unmanned vehicle to adsorb in the landing stage (1)
On；
In third step (S3), when the sensor (3) detects that the unmanned vehicle is in starting state, the sensor
(3) send and enable signals to the energizing apparatus (4), energizing apparatus (4) demagnetization for connecting the sensor (3) causes nobody to fly
Row device desorbs on the landing stage (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610176885.XA CN105818966B (en) | 2016-03-25 | 2016-03-25 | The landing fixing device and its fixing means of unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610176885.XA CN105818966B (en) | 2016-03-25 | 2016-03-25 | The landing fixing device and its fixing means of unmanned vehicle |
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| CN105818966B true CN105818966B (en) | 2017-12-29 |
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