CN119117321A - A kind of landing vibration reduction frame and unmanned aerial vehicle - Google Patents
A kind of landing vibration reduction frame and unmanned aerial vehicle Download PDFInfo
- Publication number
- CN119117321A CN119117321A CN202411483296.7A CN202411483296A CN119117321A CN 119117321 A CN119117321 A CN 119117321A CN 202411483296 A CN202411483296 A CN 202411483296A CN 119117321 A CN119117321 A CN 119117321A
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- vibration
- damping
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- landing
- tilting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
- B64C25/60—Oleo legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses a lifting vibration-damping frame which comprises a lifting vibration-damping frame assembly, a vibration-damping accommodating box, a driving mechanism and a central control system. The lifting vibration-damping frame assembly is used for providing a supporting force for damping and buffering when lifting and falling, comprises symmetrically arranged supporting cross bars and supporting inclined vertical rods which are respectively arranged on the top surfaces of the supporting cross bars, wherein the bottom of a vibration-damping accommodating box is in an open mouth shape and is respectively fixed on the bottom surface of each supporting cross bar, one vibration-damping accommodating box is internally provided with a rolled vibration-damping air bag, the free end of the vibration-damping air bag is connected with a pull rope which extends into the other vibration-damping accommodating box, a driving mechanism is arranged in the two vibration-damping accommodating boxes and is used for expanding, contracting and rolling the vibration-damping air bags, and the central control system comprises a PLC module, a lifting environment monitoring module and a lifting communication module. The invention can adapt to various complex landing scenes and improve the vibration reduction effect.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a landing vibration reduction frame and an unmanned aerial vehicle.
Background
With the development of unmanned aerial vehicle technology, unmanned aerial vehicles are widely applied in a plurality of fields such as military, civil use, scientific research and the like. However, many challenges are faced during actual use of unmanned aircraft, particularly during the landing and take-off phases. Various adverse factors such as different ground hardness, wind speed change, extreme temperature and the like can be encountered in the landing process, and the factors can impact the aircraft to influence the stability and safety of the aircraft.
The existing landing vibration reduction systems of most unmanned aerial vehicles in the market have the defect that most vibration reduction systems adopt a single vibration reduction method, such as a simple spring or a rubber pad, and cannot cope with complex and changeable landing environments. This single damping means has difficulty providing adequate cushioning, particularly when subjected to extreme environments where the damping effect is limited.
Disclosure of Invention
The invention aims to provide a landing vibration reduction frame and an unmanned aerial vehicle, which are used for solving the problems in the background technology.
The lifting vibration-damping frame comprises a lifting vibration-damping frame assembly, a vibration-damping accommodating box, a driving mechanism and a central control system.
The lifting vibration reduction frame assembly is used for providing a supporting force for damping and buffering when lifting and comprises symmetrically arranged supporting cross bars and supporting inclined vertical rods respectively arranged on the top surfaces of the supporting cross bars;
The bottom of the vibration reduction accommodating box is in an open shape and is respectively fixed on the bottom surface of each supporting cross rod, one vibration reduction accommodating box is internally provided with a coiled vibration reduction air bag, the free end of the vibration reduction air bag is connected with a pull rope, and the pull rope extends into the other vibration reduction accommodating box;
The driving mechanism is arranged in the two vibration reduction accommodating boxes and is used for expanding, contracting and rolling the vibration reduction air bags;
the central control system comprises a PLC module, a lifting environment monitoring module and a lifting communication module.
Preferably, the lifting environment monitoring module comprises a lifting supporting point attribute identification unit, a lifting temperature monitoring unit and a lifting wind speed monitoring unit, and the communication module comprises a Wi-Fi network unit.
In this scheme, preferably, the lifting supporting point attribute identifying unit includes an identifying camera, and the identifying camera identifies whether the attribute of the lifting supporting point is loose or hard;
The landing temperature monitoring unit comprises a temperature sensor, wherein the temperature sensor monitors the temperature of a landing place and transmits data to the PLC module through the communication module;
The landing wind speed monitoring unit comprises a wind speed sensor which monitors the wind speed of a landing place and transmits data to the PLC module through the communication module.
Preferably, the driving mechanism comprises a winding shaft rotatably installed in each vibration reduction accommodating box and a micro motor installed on the outer walls of the diagonal crossing ends of the two vibration reduction accommodating boxes.
Preferably, the end parts of the two vibration reduction accommodating boxes are further provided with multidirectional anti-tilting vibration reduction assemblies, and the multidirectional anti-tilting vibration reduction assemblies comprise anti-tilting vibration reduction pieces which are respectively arranged at the front and rear lifting sides of the bottoms of the two ends of each vibration reduction accommodating box and symmetrically arranged at the lower parts of the opposite sides of the two vibration reduction accommodating boxes.
According to the scheme, preferably, one ends, far away from the vibration reduction accommodating box, of the lifting side anti-tilting vibration reduction pieces are tilted upwards, so that the back of the lifting side anti-tilting vibration reduction pieces is of an arc-shaped curved surface structure.
According to the scheme, preferably, each anti-tilting vibration reduction piece is provided with a wave vibration reduction part at one end, close to the vibration reduction accommodating box, of the anti-tilting vibration reduction piece, and an arc-shaped upturned end part is arranged at one end, far away from the vibration reduction accommodating box, of the anti-tilting vibration reduction piece.
According to the scheme, preferably, each vibration reduction accommodating box is adhered with the rubber vibration reduction bottom frame, when the vibration reduction accommodating box rises and falls, the rubber vibration reduction bottom frames can achieve buffering vibration reduction of a foundation, and rope penetrating holes for the pull ropes to penetrate are symmetrically formed in the opposite side faces of the two rubber vibration reduction bottom frames.
Preferably, the top of every support slope pole setting all is connected with hydraulic damping pole, hydraulic damping pole's outside cover is equipped with U type mounting panel, second air spring is all installed to the both sides inner wall of U type mounting panel, two the equal fixed connection of the relative one end of second air spring is on hydraulic damping pole's outer wall.
An unmanned aerial vehicle, unmanned aerial vehicle includes end box, installs in the upper cover on end box top and installs in the landing shock absorber of end box bottom surface.
Compared with the prior art, the invention has the technical effects and advantages that:
this shock absorber and unmanned vehicles take off and land, through multiple damping structure, including damping air bag, hydraulic damping pole, rubber damping underframe, take off and land around anti-roll damping piece and take off and land the side anti-roll damping piece, form an omnidirectional damping system, can effectively absorb the impact force from all directions, improve the damping effect.
Through temperature sensor, wind speed sensor and discernment camera real-time supervision landing environment, central control system can be according to different environmental conditions automatic adjustment damping strategy. The intelligent control mode enables the vibration reduction system to be more flexible, and can adapt to various complex landing scenes. The PLC module makes an accurate decision according to the sensor data, controls the driving mechanism to expand or roll the vibration reduction air bags, and ensures the maximization of the vibration reduction effect.
The design of the anti-tilting vibration reduction piece before and after landing and the anti-tilting vibration reduction piece at the side of landing effectively prevents the forward tilting, backward tilting or side turning of the aircraft in the landing process, and improves the overall stability. The anti-tilting vibration reduction piece is designed with an arc-shaped upwarp end part and a wave vibration reduction part, and provides stability and vibration reduction function in the front-rear direction in the lifting process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the mounting structure of the bottom case of the present invention;
FIG. 3 is a schematic structural view of the multi-directional anti-roll vibration damping assembly of the present invention;
FIG. 4 is a schematic view of the structure of the vibration damping accommodating case of the present invention;
FIG. 5 is an enlarged schematic view of the structure of FIG. 1A according to the present invention;
FIG. 6 is an enlarged schematic view of the structure of the present invention at B in FIG. 1;
FIG. 7 is a schematic view of an installation structure of the wind speed sensor of the present invention;
FIG. 8 is a schematic view of the mounting structure of a second air spring of the present invention;
fig. 9 is a block diagram of electrical connection of the central control system according to the present invention.
Reference numerals illustrate:
The device comprises a lifting vibration-damping frame assembly, a supporting cross rod, a supporting inclined vertical rod, a vibration-damping accommodating box, a pulling rope, a rubber vibration-damping bottom frame, a driving mechanism, a vibration-damping air bag, a bottom box, a 10 upper cover, a 11 temperature sensor, a 12 rotor wing part, a 13 hydraulic damping rod, a 14 front and rear lifting anti-tilting vibration-damping part, a 15 arc-shaped upturned end part, a 16 wave vibration-damping part, a 17 lifting side anti-tilting vibration-damping part, a 18 multi-directional anti-tilting vibration-damping assembly, a 19, a winding shaft, a 20, a bearing, a 21, a miniature motor, a 22, a rope penetrating hole, a 23, an identification camera, a 24, a mounting upper disc, a 25, a first air spring, a 26, a mounting lower disc, a 27, a rubber vibration-damping sleeve, a 28, a U-shaped mounting plate, a 29, a second air spring, a 30, a pump body part and a 31, and a wind speed sensor.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.
Unless the directions indicated by the individual definitions are used, the directions of up, down, left, right, front, rear, inner and outer are all directions of up, down, left, right, front, rear, inner and outer in the drawings shown in the present invention, and are described herein together.
The embodiment provides a lifting vibration-damping frame as shown in fig. 1 to 9, which comprises a lifting vibration-damping frame assembly 1, a vibration-damping accommodating box 4, a driving mechanism 7 and a central control system.
In this embodiment, the lifting vibration-damping frame assembly 1 is used for providing a supporting force for damping and buffering when lifting and comprises symmetrically arranged supporting cross bars 2 and supporting inclined vertical rods 3 respectively arranged on the top surfaces of the supporting cross bars 2, wherein the supporting inclined vertical rods 3 serve as vertical supporting structures, connect the supporting cross bars 2 with the vibration-damping accommodating boxes 4 and provide necessary vibration-damping effect in the vertical direction during lifting and falling.
In the embodiment, the bottom of the vibration reduction accommodating box 4 is in an open shape and is respectively fixed on the bottom surface of each supporting cross rod 2, one vibration reduction accommodating box 4 is internally provided with a rolled vibration reduction air bag 8, the free end of the vibration reduction air bag 8 is connected with a pull rope 5, the pull rope 5 extends into the other vibration reduction accommodating box 4, and the vibration reduction accommodating box 4 is used as a carrier of the vibration reduction air bag 8 and other mechanical components, protects the internal components from the external environment and provides an installation position for the driving mechanism 7. The vibration-damping air bags 8 provide an additional vibration-damping effect by inflation, and can absorb more impact energy during landing and take off and reduce vibration of the machine body.
In the present embodiment, the driving mechanism 7 is provided in the two vibration damping accommodation cases 4 and serves to expand, and contract, and roll up the vibration damping air bags 8.
In this embodiment, the central control system includes a PLC module, a landing environment monitoring module, and a landing communication module. When the lifting environment monitoring module monitors that the vibration reduction air bags 8 are required to be inflated and expanded to be unfolded when lifting, the lifting environment monitoring module sends signals to the PLC module through the lifting communication module, and the PLC module controls the driving mechanism 7 to expand and expand the vibration reduction air bags 8 to support vibration reduction and buffer the two accommodating boxes after receiving the signals, so that the vibration reduction air bags 8 are elastically buffered to lift.
In this embodiment, the landing environment monitoring module includes a landing supporting point attribute identifying unit, a landing temperature monitoring unit, and a landing wind speed monitoring unit, and the communication module includes a Wi-Fi network unit.
In this embodiment, the lifting support point attribute identifying unit includes an identifying camera 23, where the identifying camera 23 identifies whether the attribute of the lifting support point is loose or hard;
In this embodiment, the landing temperature monitoring unit includes a temperature sensor 11, the temperature sensor 11 monitoring the temperature of the landing site and transmitting data to the PLC module through the communication module;
In the present embodiment, the landing wind speed monitoring unit includes a wind speed sensor 31, and the wind speed sensor 31 monitors the wind speed of the landing place and transmits data to the PLC module through the communication module. When the recognition camera 23 recognizes that the property of the landing support point is soil loosening or concrete, the recognition result data is transmitted to the PLC module through the Wi-Fi network unit, and when the PLC module determines that the concrete is hard after analysis, the PLC module synchronously controls to open the pump body part 30 and the two micro motors 21 so that the two micro motors 21 expand the vibration-damping air bags 8, the pump body part 30 inflates and expands the vibration-damping air bags 8, the vibration-damping air bags 8 expanded through the inflation and the hydraulic damping rods 13 and the second air springs 29 are used for buffering vibration damping when the landing vibration-damping rack assembly 1 is lifted, when the recognition camera 23 recognizes that the property of the landing support point is soil loosening, the recognition result data is transmitted to the PLC module through the Wi-Fi network unit, and when the PLC module determines that the concrete is hard after analysis, the PLC module does not open the micro motors 21 and the pump body part 30, but directly dampens vibration by the front and rear anti-tilting vibration-damping pieces 14 and the landing side anti-tilting members 17 and the rubber vibration-damping bottom frame 6. When the temperature sensor 11 monitors extremely high temperature or extremely low temperature and the wind speed sensor 31 monitors extremely wind power, the monitored data are respectively sent to the PLC module through the Wi-Fi network unit, the PLC module synchronously controls and opens the pump body component 30 and the two micro motors 21, so that the two micro motors 21 expand the vibration-damping air bags 8, the pump body component 30 inflates and expands the vibration-damping air bags 8, the vibration-damping air bags 8 expanded through inflation and the hydraulic damping rods 13 and the second air springs 29 are used for buffering and vibration damping when the lifting vibration-damping frame assembly 1 lifts, and when the electrodeless end high temperature or extremely low temperature and the electrodeless end wind power are used, the PLC module is closed and directly performs direct vibration damping through the front and rear anti-tilting vibration-damping pieces 14, the lifting side anti-tilting vibration-damping pieces 17 and the rubber vibration-damping bottom frame 6. The pump body component 30 comprises an inflator pump and a vacuumizing pump, and is used for controlling the inflation and the exhaustion of the vibration reduction air bag 8 to realize the unfolding and the rolling of the vibration reduction air bag.
In this embodiment, the driving mechanism 7 includes a winding shaft 19 rotatably installed in each vibration-damping accommodation box 4 and a micro motor 21 installed on the outer wall of the diagonal crossing end of the two vibration-damping accommodation boxes 4, when the vibration-damping air bags 8 need to be deployed, one of the micro motors 21 rotates in the opposite direction to release the vibration-damping air bags 8 wound by the winding shaft 19, and the other micro motor 21 rotates in the forward direction to pull the vibration-damping air bags 8 through the pull ropes 5, thereby completing the deployment of the vibration-damping air bags 8, and conversely completing the winding of the vibration-damping air bags 8, and both ends of the two winding shafts 19 are connected with the vibration-damping accommodation boxes 4 through bearings 20. The vibration reduction accommodating box 4 for rolling the vibration reduction air bags 8 is internally provided with a pump body part 30, and the pump body part 30 comprises an inflator pump for inflating and expanding the vibration reduction air bags 8 and a vacuumizing pump for exhausting and rolling the vibration reduction air bags 8.
In this embodiment, the ends of the two vibration-damping accommodating boxes 4 are further provided with a multi-directional anti-tilting vibration-damping assembly 18, and the multi-directional anti-tilting vibration-damping assembly 18 includes front and rear anti-tilting vibration-damping members 14 respectively installed at the bottoms of two ends of each vibration-damping accommodating box 4, and lifting side anti-tilting vibration-damping members 17 symmetrically installed at the lower parts of opposite sides of the two vibration-damping accommodating boxes 4. Rubber damping sleeves 27 are sleeved at two ends of each support cross rod 2, the rubber damping sleeves 27 are pressed down to be abutted against the top surface of the damping containing box 4, and the damping containing boxes 4 are connected with the support cross rods 2 through screws. The multidirectional anti-roll vibration damping assembly 18 combines the functions of multiple anti-roll vibration damping members to provide an omni-directional anti-roll vibration damping effect.
In this embodiment, the ends of the two lifting side anti-tilting vibration absorbing members 17 away from the vibration absorbing accommodating box 4 are tilted upward, so that the back surfaces of the lifting side anti-tilting vibration absorbing members 17 are in an arc-shaped curved surface structure. The lift side anti-roll damper 17 can laterally cushion and damp the support rail 2 and the damper housing case 4 at the time of lift.
In this embodiment, the end of each anti-tilting vibration absorbing member 14 near the vibration absorbing accommodating box 4 is provided with a wave vibration absorbing portion 16, and the end of each anti-tilting vibration absorbing member 14 far away from the vibration absorbing accommodating box 4 is provided with an arc-shaped upturned end 15. When the supporting cross rod 2 rises and falls, the arc-shaped upwarp end part 15 of the anti-tilting vibration reduction piece 14 before and after rising and falling not only can prevent the problem of forward tilting or backward tilting, but also can play a role in buffering and vibration reduction through the elastic resin material of the anti-tilting vibration reduction piece 14 before and after rising and falling, in addition, when the wavy wave vibration reduction part 16 rises and falls, the wave vibration reduction part 16 is in line contact with a rising and falling place supporting object, so that the problem of large vibration amplitude caused by surface contact and unstable supporting caused by point contact can be avoided. The front and rear anti-roll vibration damping member 14 is designed with an arc-shaped upturned end portion 15 and a wave vibration damping portion 16, and provides stability and vibration damping function in the front and rear direction during landing. The curved upturned ends 15 help to reduce the risk of leaning forward or backward during landing and increase stability. The wave vibration damping part 16 is in line contact with the ground surface when lifting, so that the vibration amplitude is reduced, and the vibration damping effect is enhanced. The roll-up and roll-down side anti-roll damping member 17 provides lateral stability during the roll-up and roll-down process, preventing rollover.
In this embodiment, the bottom surface of each vibration damping accommodation box 4 is adhered with a rubber vibration damping bottom frame 6, when the vibration damping bottom frame 6 rises and falls, the vibration damping bottom frames 6 can achieve the buffering vibration damping of the foundation, and two opposite sides of the rubber vibration damping bottom frames 6 are symmetrically provided with rope penetrating holes 22 for the pull ropes 5 to penetrate. The rubber vibration damping bottom frame 6 is positioned at the bottom of the vibration damping containing box 4, provides preliminary ground contact buffering, and reduces damage caused by direct impact.
In this embodiment, the top end of each supporting inclined upright 3 is connected with a hydraulic damping rod 13, the outer cover of the hydraulic damping rod 13 is provided with a U-shaped mounting plate 28, the inner walls of two sides of the U-shaped mounting plate 28 are provided with second air springs 29, and opposite ends of the two second air springs 29 are fixedly connected to the outer wall of the hydraulic damping rod 13. The hydraulic damping rod 13 and the transverse movement supporting the inclined upright 3 are used for buffering and damping, and the hydraulic damping rod 13 is used for longitudinal buffering and damping supporting the inclined upright 3. The hydraulic damping rod 13 provides the damping effect required for vibration damping, absorbs impact energy by the flow of liquid, and reduces vibration of the fuselage. The second air spring 29 provides a transverse vibration damping effect and is used in cooperation with the hydraulic damper rod 13 to improve the overall vibration damping performance of the system.
The unmanned aerial vehicle comprises a bottom box 9, an upper cover 10 arranged at the top end of the bottom box 9 and a lifting vibration damping frame arranged at the bottom surface of the bottom box 9, a hydraulic damping rod 13 of the lifting vibration damping frame is hinged to the bottom surface of the bottom box 9, a U-shaped mounting plate 28 is fixed to the bottom surface of the bottom box 9, an identification camera 23 is arranged on the outer wall of the bottom box 9 in the advancing direction, a temperature sensor 11 and a wind speed sensor 31 are arranged on the top surface of the upper cover 10 through vibration damping connectors, the vibration damping connectors comprise a mounting lower plate 26 embedded into the upper cover 10, a first air spring 25 arranged on the top surface of the mounting lower plate 26 and a mounting upper plate 24 arranged at the top end of the first air spring 25, and the temperature sensor 11 and the wind speed sensor 31 are arranged on the top surface of the mounting upper plate 24, and the first air spring 25 provides elastic support and auxiliary vibration damping effect. Four rotor members 12 are symmetrically installed on the circumference of the bottom case 9.
Working principle:
the landing vibration reduction frame and the unmanned aerial vehicle are characterized in that the PLC module is used for receiving and processing information from the environment monitoring module and controlling the action of the executing mechanism according to the information. The lifting environment monitoring module comprises a lifting supporting point attribute identification unit, a lifting temperature monitoring unit and a lifting wind speed monitoring unit. The landing communication module is responsible for transmitting data, including Wi-Fi network elements, between the environmental monitoring module and the PLC module.
The recognition camera 23 takes a photograph or video of the landing zone and recognizes the property of the support point (such as hard or loose soil) through image processing analysis. The temperature sensor 11 detects the temperature of the landing zone, and the wind speed sensor 31 detects the wind speed of the landing zone. The temperature sensor 11 and the wind speed sensor 31 continuously monitor the temperature and wind speed conditions of the landing zone, the recognition camera 23 recognizes the property of the landing support point (such as hard ground or loose soil), and the monitored data is transmitted to the PLC module in the central control system through the Wi-Fi network unit. The PLC module receives the data from the lifting environment monitoring module and performs analysis and judgment. Based on the analysis result, the PLC module decides whether or not the vibration damping airbag 8 needs to be deployed and what vibration damping measures should be taken.
The recognition camera 23 takes a photograph or video of the landing zone. Preprocessing the acquired image, including scaling, cutting, graying, noise removal and the like, so as to improve the image quality and facilitate subsequent processing. Image processing algorithms (e.g., edge detection, texture analysis, color space conversion, etc.) are used to extract useful features from the image. These features may be color distribution, texture patterns, or other features related to the ground properties. And comparing the extracted features with a known standard feature library to find out the most similar features. These standard feature libraries may be pre-trained models that contain features of different ground types (e.g., hard, grass, sand, etc.). And classifying the extracted features by using a machine learning algorithm (such as a Support Vector Machine (SVM), a neural network, deep learning and the like) to determine the type of the ground. For example, if the feature matching results indicate that the ground has a higher hardness and flatness, the system will identify a hard ground, and if the feature indicates that the ground is softer or uneven, it will identify a loose ground. And sending the identification result to the PLC module through the Wi-Fi network unit for subsequent vibration reduction strategy decision.
If the landing place is concrete (hard ground), the vibration-damping air bag 8 needs to be unfolded, the PLC module controls the micro motor 21 to start, the vibration-damping air bag 8 is released through the rolling shaft 19 and unfolded through the pull rope 5, the pump body component 30 starts to inflate the vibration-damping air bag 8 to expand and unfold, vibration-damping buffering is provided, meanwhile, the hydraulic damping rod 13 provides a transverse vibration-damping effect through the assistance of the second air spring 29, the hydraulic damping rod 13 also provides a longitudinal vibration-damping function, and impact energy is absorbed through internal fluid movement.
If the landing place is the loose soil, then the opening of the air bags is not needed, the PLC module controls the micro motor 21 to rotate reversely, the vibration-damping air bags 8 are wound up through the winding shaft 19 and are evacuated by the vacuumizing pump in the pump body component 30, the front and rear anti-tilting vibration-damping pieces 14 are used for providing vibration damping and supporting in the front and rear directions through the wave vibration-damping parts 16 and the arc-shaped upturned end parts 15, the arc-shaped curved surface design of the landing side anti-tilting vibration-damping pieces 17 is helpful for providing vibration damping effect on the side surfaces, the side of the aircraft is prevented from turning over, the rubber vibration-damping bottom frame 6 is used as a vibration-damping device at the bottommost layer, a basic buffer effect is provided, the direct impact during landing is reduced, and the rubber vibration-damping sleeves 27 are sleeved on the supporting cross bars 2 to provide additional vibration damping effect. The hydraulic damping rod 13 provides a transverse vibration damping effect with the aid of the second air spring 29, and the hydraulic damping rod 13 itself also provides a longitudinal vibration damping function, absorbing impact energy by internal fluid movement.
The supporting cross rod 2 and the supporting inclined vertical rod 3 jointly form a framework of the lifting vibration reduction frame assembly 1, stable structural support is provided, the vibration reduction accommodating box 4 is connected with the supporting cross rod 2 through screws, firm connection between all components is guaranteed, the hydraulic damping rod 13 is hinged to the bottom surface of the bottom box 9, the U-shaped mounting plate 28 is fixed to the bottom surface of the bottom box 9, the identification camera 23 is mounted on the outer wall of the bottom box 9 in the advancing direction, and the temperature sensor 11 and the wind speed sensor 31 are mounted on the top surface of the upper cover 10 through vibration reduction connecting pieces.
The central control system comprehensively manages all vibration reduction operations, and ensures that the aircraft can land or take off stably and safely in the whole take-off and landing process.
It should be noted that relational terms such as one and two are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more in the limited case. The term "comprising" an element defined by the term "comprising" does not exclude the presence of other identical elements in a process, method, article or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A landing gear rack, comprising:
the lifting vibration-damping frame assembly (1) is used for providing a supporting force for damping and buffering during lifting and comprises symmetrically arranged supporting cross bars (2) and supporting inclined vertical rods (3) which are respectively arranged on the top surfaces of the supporting cross bars (2);
The vibration reduction accommodating boxes (4) are open in bottom and are respectively fixed on the bottom surface of each supporting cross rod (2), one vibration reduction accommodating box (4) is internally provided with a rolled vibration reduction air bag (8), the free end of each vibration reduction air bag (8) is connected with a pull rope (5), and each pull rope (5) extends into the other vibration reduction accommodating box (4);
A driving mechanism (7) provided in the two vibration-damping accommodation boxes (4) and for expanding, contracting, and rolling up the vibration-damping air bags (8);
the central control system comprises a PLC module, a lifting environment monitoring module and a lifting communication module.
2. A landing gear rack as set forth in claim 1 wherein the landing environment monitoring module comprises a landing support point attribute identification unit, a landing temperature monitoring unit and a landing wind speed monitoring unit, and wherein the communication module comprises a Wi-Fi network unit.
3. A landing gear rack according to claim 2, wherein said landing support point attribute identifying unit comprises an identifying camera (23), said identifying camera (23) identifying whether the landing support point attribute is loose or hard;
The landing temperature monitoring unit comprises a temperature sensor (11), wherein the temperature sensor (11) monitors the temperature of a landing place and transmits data to the PLC module through the communication module;
The landing wind speed monitoring unit comprises a wind speed sensor (31), wherein the wind speed sensor (31) monitors the wind speed of a landing place and transmits data to the PLC module through the communication module.
4. A lifting vibration-damping frame according to claim 3, characterized in that the driving mechanism (7) comprises a winding shaft (19) rotatably mounted in each vibration-damping accommodation box (4) and a micro motor (21) mounted on the outer wall of the diagonal crossing ends of the two vibration-damping accommodation boxes (4).
5. A lifting vibration-damping frame according to claim 4, characterized in that the ends of the two vibration-damping accommodating boxes (4) are also provided with a multi-directional anti-tilting vibration-damping assembly (18), and the multi-directional anti-tilting vibration-damping assembly (18) comprises lifting front and rear anti-tilting vibration-damping pieces (14) which are respectively arranged at the bottoms of the two ends of each vibration-damping accommodating box (4) and lifting side anti-tilting vibration-damping pieces (17) which are symmetrically arranged at the lower parts of one side surface of the two vibration-damping accommodating boxes (4) opposite to each other.
6. A lifting vibration-damping frame according to claim 5, characterized in that one ends of the two lifting side anti-tilting vibration-damping members (17) far away from the vibration-damping accommodating box (4) are tilted upwards, so that the back surfaces of the lifting side anti-tilting vibration-damping members (17) are in arc-shaped curved surface structures.
7. A lifting vibration-damping frame as claimed in claim 6, wherein each of the front and rear anti-tilting vibration-damping members (14) is provided with a wave vibration-damping portion (16) at one end thereof close to the vibration-damping accommodating box (4), and an arc-shaped upturned end (15) is provided at one end of the front and rear anti-tilting vibration-damping member (14) away from the vibration-damping accommodating box (4).
8. A lifting vibration-damping frame as claimed in claim 7, wherein each vibration-damping accommodation box (4) is adhered with a rubber vibration-damping bottom frame (6), when the lifting vibration-damping bottom frame (6) is lifted, the base is damped, and two opposite sides of the rubber vibration-damping bottom frames (6) are symmetrically provided with rope holes (22) for a pull rope (5) to pass through.
9. The lifting vibration-damping frame according to claim 8, wherein the top end of each supporting inclined upright rod (3) is connected with a hydraulic damping rod (13), a U-shaped mounting plate (28) is covered outside the hydraulic damping rod (13), second air springs (29) are mounted on the inner walls of the two sides of the U-shaped mounting plate (28), and opposite ends of the two second air springs (29) are fixedly connected to the outer wall of the hydraulic damping rod (13).
10. An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises a bottom box (9), an upper cover (10) arranged at the top end of the bottom box (9) and a landing vibration-damping frame arranged on the bottom surface of the bottom box (9) and according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411483296.7A CN119117321A (en) | 2024-10-23 | 2024-10-23 | A kind of landing vibration reduction frame and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411483296.7A CN119117321A (en) | 2024-10-23 | 2024-10-23 | A kind of landing vibration reduction frame and unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN119117321A true CN119117321A (en) | 2024-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202411483296.7A Pending CN119117321A (en) | 2024-10-23 | 2024-10-23 | A kind of landing vibration reduction frame and unmanned aerial vehicle |
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| CN (1) | CN119117321A (en) |
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| CN220974585U (en) * | 2023-09-27 | 2024-05-17 | 广西科技大学 | Unmanned aerial vehicle anticollision undercarriage structure |
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| US6260797B1 (en) * | 1998-01-13 | 2001-07-17 | Science Applications International Corporation | Transformable gun launched aero vehicle |
| CN207089639U (en) * | 2017-06-21 | 2018-03-13 | 深圳市品斯迈实业有限公司 | A kind of new unmanned plane foot stool and unmanned plane |
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