阅读说明：本技术 一种锥式伸缩多轴旋翼无人机助降落装置与方法 (Cone type telescopic multi-shaft rotor unmanned aerial vehicle landing assisting device and method ) 是由 李东旭 范学领 蒋昊南 李辉 周靖淦 黄隆宁 于 2020-06-02 设计创作，主要内容包括：本发明提供了一种锥式伸缩多轴旋翼无人机助降落装置与方法。该装置包括降落锥、降落锥外壁、平行四边形缩放杆组、推缸、推杆、对称布置滑块的滑轨、气流导出流孔、无人机中心协助降落套筒、无人机功能下层、无人机控制系统上层、无人机降落缓冲气缸和无人机降落推杆和降落平台。该装置通过利用多轴旋翼飞行在距地面较远时地面效应较弱,易于控制的特点。该方法通过机械助降装置解决多轴旋翼飞行器由于近地时,旋翼地面效应强,高精度降落速度慢、难度高的问题。(The invention provides a conical telescopic multi-shaft rotor unmanned aerial vehicle landing assisting device and method. The device includes descending awl, descending awl outer wall, parallelogram pole group of zooming, pushes away jar, push rod, symmetrical arrangement slider's slide rail, air current derivation discharge orifice, unmanned aerial vehicle center assistance descending sleeve, unmanned aerial vehicle function lower floor, unmanned aerial vehicle control system upper strata, unmanned aerial vehicle descending buffer cylinder and unmanned aerial vehicle descending push rod and descending platform. The device is through utilizing multiaxis rotor flight to be far away from ground surface effect weak, the characteristics of easy control. The method solves the problems of strong ground effect, low high-precision landing speed and high difficulty of the rotor wing of the multi-shaft rotor wing aircraft due to the fact that the multi-shaft rotor wing aircraft is close to the ground through the mechanical landing assisting device.)

1. A cone type telescopic multi-shaft rotor unmanned aerial vehicle auxiliary landing device is characterized by comprising a landing cone (1), a parallelogram pantograph group (3), a push cylinder (4), push rods (5), slide rails (6) with symmetrically arranged slide blocks and a landing platform (13); wherein the content of the first and second substances,

the multi-axis rotor unmanned aerial vehicle is formed by connecting an upper human-machine control system layer (10) and a lower unmanned aerial vehicle function layer (9) which are arranged from top to bottom, wherein the center of the multi-axis rotor unmanned aerial vehicle is provided with an unmanned aerial vehicle center assisting landing sleeve (8) which has a shape and position limiting relation with a landing cone (1), an unmanned aerial vehicle landing buffer cylinder (11) and an unmanned aerial vehicle landing push rod (12) with one end sleeved in the unmanned aerial vehicle landing buffer cylinder (11) are arranged below each rotor of the multi-axis rotor unmanned aerial vehicle, and the other end of the unmanned aerial vehicle landing push rod (12) is a free;

the sliding rails (6) of the plurality of symmetrically-arranged sliding blocks are uniformly arranged in the circumferential direction of the bottom of the landing cone (1), the outer wall (2) of the landing cone is hinged to the sliding rails (6) of the symmetrically-arranged sliding blocks, the parallelogram pantograph rod group (3), the push cylinder (4) and the push rod (5) are uniformly arranged in the landing cone (1), the top of the parallelogram pantograph rod group (3) is hinged to the top of the landing cone (1), the bottom of the parallelogram rod group is connected with one end of the push rod (5), the other end of the push rod (5) is sleeved in the push cylinder (4), and the push cylinder (4) is hinged to the sliding rails (6) of the symmetrically-arranged sliding blocks.

2. The cone type telescopic multi-shaft rotor wing unmanned aerial vehicle landing aid device according to claim 1, wherein the unmanned aerial vehicle landing push rod (12) is connected with the unmanned aerial vehicle landing buffer cylinder (11) through a sliding kinematic pair.

3. The cone-type telescopic multi-shaft rotor unmanned aerial vehicle landing aid device according to claim 1, wherein the push rod (5) and the push cylinder (4) are connected through a sliding kinematic pair.

4. The unmanned aerial vehicle landing aid device with conical telescopic multi-shaft rotors according to claim 1, wherein a plurality of gas guide holes (7) are uniformly formed in the landing platform (13).

5. A cone-type telescopic multi-shaft rotor unmanned aerial vehicle landing aid method, which is based on the cone-type telescopic multi-shaft rotor unmanned aerial vehicle landing aid device as claimed in any one of claims 1 to 4, and comprises the following steps:

the method comprises the following steps that firstly, a multi-axis rotor unmanned aerial vehicle lands at a height H above a landing device, wherein H is a height at which the flying height of the multi-axis rotor unmanned aerial vehicle cannot obviously generate a near-earth effect, at the moment, the transverse error of the multi-axis rotor unmanned aerial vehicle in the air is X1, the longitudinal error is Y1, and the height error is Z1;

secondly, positioning the multi-axis rotor unmanned aerial vehicle right above the landing cone (1) at the height H, and slowly descending; because the landing cone (1) and the unmanned aerial vehicle center assisting landing sleeve (8) on the multi-axis rotor unmanned aerial vehicle have a shape and position limiting relationship, the multi-axis rotor unmanned aerial vehicle can slowly correct the position of the multi-axis rotor unmanned aerial vehicle;

step three, in the landing process of the multi-axis rotor unmanned aerial vehicle, the airflow exporting flow hole (7) of the platform plays a role in assisting in reducing the ground effect of the rotor, and the unmanned aerial vehicle landing buffer cylinder (11) of the landing foot of the multi-axis rotor unmanned aerial vehicle touches the ground to complete landing;

and step four, after the multi-axis rotor unmanned aerial vehicle finishes descending, the push cylinder (4) is controlled to contract, the parallelogram pantograph rod group (3) is driven to contract and fold, and the descending cone (1) descends and folds.

Technical Field

The invention belongs to the field of unmanned aerial vehicles, and particularly relates to a conical telescopic multi-shaft rotor unmanned aerial vehicle landing assisting device and method, so that the complexity and the unreliability of an automation strategy of an unmanned aerial vehicle during landing are reduced, and a scheme is provided for the rapid and accurate landing of a multi-shaft rotor unmanned aerial vehicle on a high-speed moving platform.

Background

Unmanned aerial vehicles are widely used in the fields of aerial surveying and mapping, resource transportation, early warning security and the like. The development of modern electronic commerce increases the transportation pressure of the logistics industry. Because the advantages such as the scope is big in the empty territory scope in the earth, unmanned aerial vehicle delivery potential is high, unmanned aerial vehicle transport speed is fast, adopt unmanned aerial vehicle to accomplish one of the solutions that the commodity circulation task becomes the mainstream, possess a large amount of demands. Multiaxial rotor drones have good flight and landing stability and maneuverability, one of the most promising logistics transportation modes at present being considered. Currently, a global positioning system and inertial integrated navigation are mostly adopted for outdoor positioning of the unmanned aerial vehicle, and the navigation task of the unmanned aerial vehicle is completed in indoor positioning by adopting modes such as an optical flow sensor, computer project vision, ultrasonic ranging, radio three-coordinate positioning and the like. Unmanned aerial vehicle is when being nearer apart from descending platform, considers: the high-speed motion of landing platform, the slope and the shake of landing platform, the complicated ground effect of unmanned aerial vehicle, the abominable electromagnetic environment of landing environment, accidental interference factor in future, unmanned aerial vehicle landing speed will slow down, the execution and the implementation of the complicated control algorithm of being convenient for. When the quad-rotor unmanned aerial vehicle lands near the ground, navigates and controls, the four-rotor unmanned aerial vehicle can complete the auxiliary positioning landing of the tail end by adopting surveying and mapping means such as an optical flow sensor, an ultrasonic sensor, two-dimensional code image recognition, a SLAM map and the like. Therefore, in a classical unmanned aerial vehicle landing automation task, the automation task efficiency and robustness of the unmanned aerial vehicle can be obviously influenced by the problems of complex control algorithm, difficult control task, slow landing step and the like.

Disclosure of Invention

The invention aims to provide an auxiliary landing strategy and method for an unmanned aerial vehicle, aiming at the defects and blanks of the prior art, and providing a solution strategy for the high-speed landing of the unmanned aerial vehicle on a platform moving at a high speed in a complex environment, so that the landing efficiency, the landing precision and the landing task reliability of the multi-axis rotor unmanned aerial vehicle are improved, and the auxiliary landing strategy and method have important significance for the improvement of the carrying and dispatching efficiency of the unmanned aerial vehicle in the future high-frequency take-off and landing application scenes of the unmanned aerial vehicle.

The invention is realized by adopting the following technical scheme:

a cone type telescopic multi-shaft rotor wing unmanned aerial vehicle auxiliary landing device comprises a landing cone, a parallelogram pantograph rod group, a push cylinder, a push rod, slide rails with symmetrically arranged slide blocks and a landing platform; wherein the content of the first and second substances,

the multi-shaft rotor unmanned aerial vehicle is formed by connecting a man-machine control system upper layer and an unmanned aerial vehicle function lower layer which are arranged from top to bottom, an unmanned aerial vehicle center assisting landing sleeve which has a shape and position limiting relation with a landing cone is arranged at the center of the multi-shaft rotor unmanned aerial vehicle, an unmanned aerial vehicle landing buffer cylinder and an unmanned aerial vehicle landing push rod with one end sleeved in the unmanned aerial vehicle landing buffer cylinder are arranged below each shaft rotor of the multi-shaft rotor unmanned aerial vehicle, and the other end of the unmanned aerial vehicle landing push rod is a free end;

the sliding rails of the sliding blocks are symmetrically arranged in the circumferential direction of the bottom of the landing cone, the outer wall of the landing cone is hinged to the sliding rails of the sliding blocks, the parallelogram zooming rod group, the pushing cylinder and the pushing rod are all arranged in the landing cone, the top of the parallelogram zooming rod group is hinged to the top of the landing cone, the bottom of the parallelogram zooming rod group is connected with one end of the pushing rod, the other end of the pushing rod is sleeved in the pushing cylinder, and the pushing cylinder is hinged to the sliding rails of the sliding blocks which are symmetrically arranged.

The invention has the further improvement that the unmanned aerial vehicle landing push rod is connected with the unmanned aerial vehicle landing buffer cylinder through a sliding kinematic pair.

The invention is further improved in that the push rod and the push cylinder are connected by a sliding kinematic pair.

The invention has the further improvement that a plurality of gas diversion holes are uniformly arranged on the landing platform.

A cone-type telescopic multi-shaft rotor unmanned aerial vehicle landing assisting method is characterized in that the method is based on the cone-type telescopic multi-shaft rotor unmanned aerial vehicle landing assisting device and comprises the following steps:

the method comprises the following steps that firstly, a multi-axis rotor unmanned aerial vehicle lands at a height H above a landing device, wherein H is a height at which the flying height of the multi-axis rotor unmanned aerial vehicle cannot obviously generate a near-earth effect, at the moment, the transverse error of the multi-axis rotor unmanned aerial vehicle in the air is X1, the longitudinal error is Y1, and the height error is Z1;

secondly, positioning the multi-shaft rotor unmanned aerial vehicle right above the landing cone at the height H, and slowly descending; because the landing cone and the unmanned aerial vehicle center assisting landing sleeve on the multi-axis rotor unmanned aerial vehicle have a shape and position limiting relationship, the multi-axis rotor unmanned aerial vehicle can slowly correct the position of the landing cone;

step three, in the landing process of the multi-axis rotor unmanned aerial vehicle, the airflow outlet hole of the platform plays a role in assisting in reducing the ground effect of the rotor, and the unmanned aerial vehicle landing buffer cylinder of the landing leg of the multi-axis rotor unmanned aerial vehicle touches the ground to complete landing;

and step four, after the multi-axis rotor unmanned aerial vehicle finishes descending, the push cylinder is controlled to contract, the parallelogram pantograph rod group (3) is driven to contract and fold, and the descending cone descends and folds.

The invention has at least the following beneficial technical effects:

the invention provides a cone-type telescopic multi-shaft rotor unmanned aerial vehicle landing aid device which has the characteristics that the ground effect is weak and the control is easy when a multi-shaft rotor unmanned aerial vehicle flies far away from the ground. Through the mechanical landing assisting device, the problem that the multi-axis rotor unmanned aerial vehicle is strong in rotor ground effect, slow in high-precision landing speed and high in difficulty when the multi-axis rotor unmanned aerial vehicle is close to the ground is solved.

The invention provides a cone-type telescopic multi-shaft rotor unmanned aerial vehicle assisted landing method, which is characterized in that an unmanned aerial vehicle is kept relatively static with a landing platform when flying close to the landing platform. The landing cone is actively extended out through the parallelogram pantograph group by utilizing the characteristic that when the landing platform is far away from the vertical direction, the aircraft has lower near-ground effect position fluctuation and is easy to control. The aircraft assists the landing sleeve to align with the landing cone through its structural unmanned aerial vehicle center. And then the quadrilateral zooming rod group is retracted, the landing cone falls down, and the unmanned aerial vehicle rapidly lands along with the landing cone.

Drawings

Fig. 1 is a schematic view of a cone-type telescopic multi-shaft rotor unmanned aerial vehicle landing aid device.

Description of reference numerals:

1. descending awl, 2, descending awl outer wall, 3, parallelogram pole group of zooming, 4, push cylinder, 5, push rod, 6, the slide rail of symmetrical arrangement slider, 7, the discharge orifice is derived to the air current, 8, unmanned aerial vehicle center assistance landing sleeve, 9, unmanned aerial vehicle function lower floor, 10, unmanned aerial vehicle control system upper strata, 11, unmanned aerial vehicle descending buffer cylinder, 12, unmanned aerial vehicle descending push rod, 13, descending platform.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1, the invention provides a conical telescopic multi-shaft rotor unmanned aerial vehicle auxiliary landing device, which comprises a landing cone 1, a landing cone outer wall 2, a parallelogram pantograph rod group 3, a push cylinder 4, a push rod 5, slide rails 6 with symmetrically arranged slide blocks, an airflow guiding-out flow hole 7, an unmanned aerial vehicle center auxiliary landing sleeve 8, an unmanned aerial vehicle function lower layer 9, an unmanned aerial vehicle control system upper layer 10, an unmanned aerial vehicle landing buffer cylinder 11, an unmanned aerial vehicle landing push rod 12 and a landing platform 13.

The multi-axis rotor unmanned aerial vehicle is formed by connecting a man-machine control system upper layer 10 and an unmanned aerial vehicle function lower layer 9 which are arranged from top to bottom, an unmanned aerial vehicle center assisting landing sleeve 8 which has a shape and position limiting relation with a landing cone 1 is arranged at the center of the multi-axis rotor unmanned aerial vehicle, an unmanned aerial vehicle landing buffer cylinder 11 and an unmanned aerial vehicle landing push rod 12 with one end sleeved in the unmanned aerial vehicle landing buffer cylinder 11 are arranged below each rotor of the multi-axis rotor unmanned aerial vehicle, and the other end of the unmanned aerial vehicle landing push rod 12 is a free end and is arranged; the sliding rails 6 of the plurality of symmetrically-arranged sliding blocks are uniformly arranged on the periphery of the bottom of the landing cone 1, the outer wall 2 of the landing cone is hinged to the sliding rails 6 of the symmetrically-arranged sliding blocks, the parallelogram pantograph rod group 3, the push cylinder 4 and the push rod 5 are all arranged in the landing cone 1, the top of the parallelogram pantograph rod group 3 is hinged to the top of the landing cone 1, the bottom of the parallelogram rod group is connected with one end of the push rod 5, the other end of the push rod 5 is sleeved in the push cylinder 4, and the push cylinder 4 is hinged to the sliding rails 6 of the symmetrically-arranged sliding blocks.

Preferably, unmanned aerial vehicle descending push rod 12 is connected for the sliding motion pair with unmanned aerial vehicle descending cushion cylinder 11. The push rod 5 is connected with the push cylinder 4 by a sliding kinematic pair. A plurality of gas diversion holes 7 are uniformly arranged on the landing platform 13.

In order to further understand the invention, the method for assisting in landing of the tapered telescopic multi-shaft rotor unmanned aerial vehicle provided by the invention is described as follows:

during the experiment:

step one, multiaxis rotor unmanned aerial vehicle descends in high H department above the landing device, and H is the height that multiaxis rotor unmanned aerial vehicle flying height can not show and produce the effect near the ground. At this time, the transverse error of the multi-axis rotor unmanned aerial vehicle in the air is X1, the longitudinal error is Y1, and the height error is Z1.

And step two, the multi-axis rotor unmanned aerial vehicle is positioned right above the landing cone 1 at the height H and slowly descends. Because the unmanned aerial vehicle center on descending awl 1 and the multiaxis rotor unmanned aerial vehicle helps descending sleeve 8 to have the shape and position restriction relation, multiaxis rotor unmanned aerial vehicle will slowly revise the position of place.

Step three, the airflow guiding-out flow hole 7 of the landing platform 13 plays a role in assisting in reducing the ground effect of the rotor in the landing process of the multi-axis rotor unmanned aerial vehicle. The unmanned aerial vehicle landing buffer cylinder 11 of the landing foot of the multi-axis rotor unmanned aerial vehicle touches down the ground to complete landing.

And step four, after the multi-axis rotor unmanned aerial vehicle finishes descending, the push cylinder 4 is controlled to contract, the parallelogram pantograph rod group 3 is driven to contract and fold, and the descending cone 1 descends and folds.