Unmanned helicopter ship surface take-off and landing auxiliary system and control method
阅读说明：本技术 一种无人直升机舰面起降辅助系统及控制方法 (Unmanned helicopter ship surface take-off and landing auxiliary system and control method ) 是由 王磊 周亨 罗骏 包明敏 吴令华 侯祥民 苏兵兵 于 2019-10-10 设计创作，主要内容包括：本发明属于舰面起降技术,具体涉及一种无人直升机舰面起降辅助系统及控制方法。本发明无人直升机舰面起降辅助系统包括增稳平台、磁吸起落架。其中,所述磁吸起落架上部连接无人直升机,下部用于着陆,其下部上设置有用于增强吸附能力的电磁铁,所述增稳平台包括起降面、支撑机构、平台底座,所述支撑机构一端固定在平台底座上,另一端上设置起降面,且所述支撑机构至少包括一个用于调节起降面角度和高度的作动机构,所述起降面上设有铁磁性金属板。在整个起降过程中,本发明为直升机提供了稳定起降区域,为无人直升机稳定停靠提供必要的吸附力,有效降低了直升机舰面起降的海况要求,提高了直升机舰面起降的安全性与适应性。(The invention belongs to a ship surface take-off and landing technology, and particularly relates to a ship surface take-off and landing auxiliary system of an unmanned helicopter and a control method. The invention relates to an unmanned helicopter ship surface take-off and landing auxiliary system which comprises a stability augmentation platform and a magnetic landing gear. The magnetic attraction landing gear comprises a magnetic attraction landing gear upper portion, a lower portion and an electromagnet, wherein the upper portion is connected with the unmanned helicopter, the lower portion is used for landing, the electromagnet used for enhancing adsorption capacity is arranged on the lower portion of the magnetic attraction landing gear, the stability augmentation platform comprises a lifting surface, a supporting mechanism and a platform base, one end of the supporting mechanism is fixed to the platform base, the lifting surface is arranged at the other end of the supporting mechanism, the supporting mechanism at least comprises an actuating mechanism used for adjusting the angle and the height of the lifting surface, and a ferromagnetic metal plate is arranged on the lifting. In the whole taking-off and landing process, the invention provides a stable taking-off and landing area for the helicopter, provides necessary adsorption force for the stable parking of the unmanned helicopter, effectively reduces the sea condition requirement of the taking-off and landing of the ship surface of the helicopter, and improves the safety and the adaptability of the taking-off and landing of the ship surface of the helicopter.)
1. The utility model provides an unmanned helicopter warship face auxiliary system that takes off and land, its characterized in that, including increasing steady platform, magnetism and inhale the undercarriage, wherein, magnetism is inhaled undercarriage upper portion and is connected unmanned helicopter, and the lower part is used for landing, is provided with the electro-magnet that is used for reinforcing adsorption affinity on its lower part, it includes the face of taking off and land, supporting mechanism, platform base to increase steady platform, supporting mechanism one end is fixed on the platform base, sets up the face of taking off and land on the other end, just supporting mechanism includes at least one actuating mechanism that is used for adjusting the face angle of taking off and land and height, be equipped with the ferromagnetism metal sheet on the face of taking.
2. The unmanned helicopter vessel surface takeoff and landing assistance system of claim 1 further comprising a touchdown sensor, said touchdown sensor being a vibration sensor mounted on the landing gear or fuselage; the touchdown sensor is a contact sensor and is arranged at the bottom of the undercarriage or the bottom of the body; the touchdown sensor is a distance measuring sensor and is arranged on the undercarriage or at the bottom of the body.
3. The unmanned helicopter vessel deck take-off and landing assistance system of claim 1, wherein the take-off and landing surface comprises an anti-collision layer, an abrasion resistant layer, an anti-corrosion layer, a ferromagnetic metal layer, a support structure.
4. The unmanned helicopter vessel surface take-off and landing assistance system of claim 1, wherein the support mechanism comprises at least three adjustable actuators, and wherein the line connecting the points of attachment of the actuators to the take-off and landing surface is a regular polygon, and the line connecting the points of attachment of the actuators to the platform base is also a regular polygon.
5. The unmanned helicopter vessel surface take-off and landing assistance system of claim 1, wherein the support mechanism is a multi-degree of freedom rocker arm having a top disposed below the take-off and landing surface.
6. The unmanned helicopter warship surface take-off and landing auxiliary system of claim 1, wherein the stability augmentation platform end and the airborne end controller are arranged, the two controllers can perform wireless information interaction and can respectively wirelessly control the whole system to realize automatic control, manual control or man-machine interaction control.
7. The unmanned helicopter vessel face takeoff and landing assistance system of claim 1,
under the automatic control mode, increase steady platform end controller and receive unmanned aerial vehicle demand signal that takes off and land, start the platform and increase steady and actuate. The airborne end controller receives the power signal of the unmanned aerial vehicle and the signal of the bottom-touching sensor, when the power of the unmanned aerial vehicle is larger than a preset value during takeoff, the undercarriage controller controls the electromagnet to release, and when the bottom-touching sensor detects that the landing is touched, the undercarriage controller controls the electromagnet to suck.
8. The unmanned helicopter vessel face takeoff and landing assistance system of claim 1,
under the manual control mode, the manual work judges that unmanned aerial vehicle accords with the release and the butt joint opportunity of taking off and land, controls the release or the actuation of undercarriage electro-magnet through platform end control ware, simultaneously, the manual work judges the start and stop opportunity of taking off and land platform, stops the manipulation through platform end control ware completion platform.
9. The unmanned helicopter vessel face takeoff and landing assistance system of claim 1,
under the man-machine interaction mode, when meeting the preset take-off and landing conditions, the platform end controller sends out an operation prompt, and an operator performs release and suction operation. Meanwhile, the platform end control box can send a platform start-stop operation prompt, and an operator can start and stop the lifting platform.
10. A control method of an unmanned helicopter ship surface take-off and landing auxiliary system is characterized in that angle and height sensors are arranged on a take-off and landing surface of a take-off and landing platform or a platform base, and the change of the transverse and longitudinal inclination angle of the take-off and landing surface and the height of the platform can be measured after the platform is started;
when the take-off and landing surface degree compensation is needed: the actuator contracts according to the angle measured by the current rising and landing surface angle sensor, and extends according to the method that the actuator on the side with the high angle and the actuator on the side with the low angle perform angle compensation actuation, and when the angle sensor detects the angle level, the angle compensation actuation is stopped;
when the height of the lifting surface needs to be compensated: the height sensor records the height of the lifting surface relative to the sea level in advance as 0 position, when the ship body fluctuates along with the sea level, the height sensor can measure the current height, all the actuators cooperate with each other to stretch and retract to actuate to compensate the height difference between the current height and the 0 position, and when the height difference measured by the height sensor is 0, the compensation actuation is stopped.
Technical Field
The invention belongs to a ship surface take-off and landing technology, and particularly relates to a ship surface take-off and landing auxiliary system of an unmanned helicopter and a control method.
Background
In the prior art, an unmanned helicopter deck take-off and landing auxiliary system in all countries in the world mainly comprises a pull-down type landing device and a fish fork-grid type landing device.
The pull-down landing device mainly comprises: the system is arranged on the unmanned helicopter and the ship surface and comprises a matched rope, a winch, a main probe, a tail probe and a control console. Before landing, unmanned helicopter hovers above a landing area to discharge a main probe, after a ship is pulled and lowered by a pull rope to be indexed into the helicopter and clamped, a ship surface winch winches the pull and lower rope to assist the helicopter in landing. When a ship lands, the main probe tube is inserted into a ship surface locking mechanism to be locked, the helicopter is driven to a proper position by the locking mechanism, the tail probe tube discharged by the helicopter is inserted into a deck groove to lock the tail, and the landing is finished. The takeoff process sequence is reverse to the above process.
The 'harpoon-grid' type carrier landing device mainly comprises: the 'fish spear' locking mechanism arranged at the bottom of the helicopter is matched with the 'grating' net on the ship surface. Before landing, an unmanned helicopter is suspended above a landing area, and a 'fish fork' is discharged and inserted into a 'grid' net on a deck and locked. The unmanned helicopter is landed on the deck in a mooring mode. The takeoff process sequence is reverse to the above process.
However, the use of the two auxiliary devices is critical to sea conditions. The pull-down landing system is suitable for the conditions that the rolling angle is 31 degrees, the pitching angle is 8 degrees, and the deck heave speed is less than 6 m/s; the 'harpoon-grid' carrier landing system is suitable for rolling between 8 degrees and pitching between 2 degrees. Moreover, the two auxiliary devices cannot provide a stable take-off and landing area for the unmanned helicopter, and the difficulty in taking off and landing is higher when the sea condition is worse.
Disclosure of Invention
The purpose of the invention is as follows: the unmanned helicopter ship surface take-off and landing auxiliary system can effectively reduce the sea condition requirements of take-off and landing and improve the take-off and landing safety and adaptability.
The technical scheme of the invention is as follows: the utility model provides an unmanned helicopter warship face auxiliary system that takes off and land, its is including increasing steady platform, magnetism and inhale the undercarriage, wherein, magnetism is inhaled undercarriage upper portion and is connected unmanned helicopter, and the lower part is used for the landing, is provided with the electro-magnet that is used for reinforcing adsorption capacity on its lower part, it includes face, supporting mechanism, platform base to increase steady platform, supporting mechanism one end is fixed on the platform base, sets up the face that takes off and land on the other end, just supporting mechanism includes at least one and is used for adjusting the actuating mechanism who takes off and land face angle and height, be equipped with the ferromagnetic metal board on the face that takes off and land.
The unmanned helicopter warship surface take-off and landing auxiliary system further comprises a touch sensor, wherein the touch sensor is a vibration sensor and is arranged on the undercarriage or the helicopter body; the touchdown sensor is a contact sensor and is arranged at the bottom of the undercarriage or the bottom of the body; the touchdown sensor is a distance measuring sensor and is arranged on the undercarriage or at the bottom of the body.
The landing surface comprises an anti-collision layer, a wear-resistant layer, an anti-corrosion layer, a ferromagnetic metal layer and a supporting structure.
The supporting mechanism comprises at least three adjustable actuators, the connecting line of the connecting points of the actuators and the lifting surface is a regular polygon, and the connecting line of the connecting points of the actuators and the platform base is also a regular polygon.
The supporting mechanism is a multi-degree-of-freedom rocker arm, and the top of the rocker arm is arranged below the lifting surface.
The unmanned helicopter ship surface take-off and landing auxiliary system is provided with the stability augmentation platform end and the airborne end controller, the two controllers can carry out wireless information interaction and can respectively control the whole system in a wireless mode, and automatic control, manual control or man-machine interaction control is achieved.
Under the automatic control mode, increase steady platform end controller and receive unmanned aerial vehicle demand signal that takes off and land, start the platform and increase steady and actuate. The airborne end controller receives the power signal of the unmanned aerial vehicle and the signal of the bottom-touching sensor, when the power of the unmanned aerial vehicle is larger than a preset value during takeoff, the undercarriage controller controls the electromagnet to release, and when the bottom-touching sensor detects that the landing is touched, the undercarriage controller controls the electromagnet to suck.
In the manual control mode, the unmanned aerial vehicle is judged to meet the releasing and butt joint time of the lifting, and a control signal is sent to the vehicle-mounted end controller manually to control the releasing or the suction of the electromagnet; meanwhile, the start-stop time of the lifting platform is judged manually, and the platform start-stop operation is finished through a platform end controller.
Under the man-machine interaction mode, when a preset take-off and landing condition is met, the platform end controller sends out an operation prompt, and an operator sends out a releasing or suction operation signal to the airborne end controller; meanwhile, the platform end controller sends a platform start-stop operation prompt, and an operator performs start-stop operation on the lifting platform.
A control method of an unmanned helicopter ship surface take-off and landing auxiliary system is characterized in that an angle sensor and a height sensor are arranged on a take-off and landing platform and a platform base, and the change of the transverse and longitudinal inclination angle and the height of the take-off and landing platform can be measured after the platform is started;
when the take-off and landing surface degree compensation is needed: the actuator contracts according to the angle measured by each shaft of the lifting surface angle sensor, the actuator on the side with a high angle contracts, the actuator on the side with a low angle extends to perform angle compensation actuation, and when the angle sensor detects the angle level, the angle compensation actuation is stopped;
when the height of the lifting surface needs to be compensated: when the platform base measures the angle level, the ship surface level is represented, at the moment, the height sensor records 0 position, after the height change is measured, all the actuators stretch and actuate according to the height difference to compensate the height difference, and when the height sensor measures 0, the height compensation is stopped to actuate.
The invention has the beneficial effects that: in the whole taking-off and landing process, the unmanned helicopter deck taking-off and landing auxiliary system and the auxiliary control method provide a stable taking-off and landing area for the helicopter by monitoring and controlling the height and the angle of the taking-off and landing surface, provide necessary adsorption force for the stable parking of the unmanned helicopter, effectively reduce the sea condition requirement of the taking-off and landing of the deck of the helicopter, and improve the safety and the adaptability of the taking-off and landing of the deck of the helicopter.
Drawings
FIG. 1 is a view of a magnetically attached landing gear;
FIG. 2 is a structural diagram of a stability augmentation platform;
FIG. 3 is a structural view of a landing surface
Fig. 4 is a structural diagram of the unmanned helicopter ship surface take-off and landing auxiliary system.
The sensor comprises a
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention relates to an unmanned helicopter ship surface take-off and landing auxiliary system which comprises a stability augmentation platform and a magnetic landing gear. The magnetic landing gear is landed on the stability augmentation platform when the unmanned helicopter ship surface lands.
Referring to fig. 1, the upper part of the magnetic landing gear is connected to an unmanned helicopter, and the lower part of the magnetic landing gear is used for landing. Be provided with the electro-magnet that is used for strengthening adsorption efficiency on the undercarriage lower part, electro-magnet quantity is not limited to 1, and it is fixed in the undercarriage lower part for increase the undercarriage and increase the adsorption efficiency between the steady platform, simultaneously, when taking off, close the circuit of electro-magnet, can eliminate magnetic adsorption power, so that take off smoothly. The magnetic landing gear is also provided with an airborne end controller for controlling the electromagnet and carrying out information interaction with the take-off and landing platform, and the airborne end controller can also be arranged on the body of the unmanned helicopter.
In addition, the helicopter ship surface take-off and landing auxiliary system is also provided with a touchdown sensor for detecting whether the landing gear lands. In this embodiment, the touchdown sensor is a vibration sensor, which is mounted on the landing gear or the fuselage, and detects contact vibration when the lower part of the landing gear is in contact with the landing surface of the stability augmentation platform, so as to send out a landing signal.
In a further embodiment, the touchdown sensor is a contact sensor mounted on the bottom of the landing gear or fuselage, which, when in contact, signals a landing.
In a modified embodiment, the touchdown sensor is a distance measuring sensor which is installed on the landing gear or the bottom of the body, and the landing is detected by detecting the distance between the landing gear or the bottom of the body and the landing surface of the stability augmentation platform and the change of the distance.
Referring to fig. 2, the stability augmentation platform includes a lifting surface, a supporting mechanism, a platform base, a position sensor, an angle and height sensor, and a platform end controller, one end of the supporting mechanism is fixed on the platform base, the other end is provided with the lifting surface, and the supporting mechanism at least includes an actuating mechanism for adjusting the angle and height of the lifting surface; the position sensor is arranged on the take-off and landing platform or on the deck.
Referring to fig. 3, in order to better meet the practical environment use requirement, the lifting surface of the present invention adopts a unique multi-layer structure design. The landing surface of the invention comprises at least a ferromagnetic layer for the absorption of the landing gear. Meanwhile, protective layers such as an anti-corrosion layer, an anti-collision layer and a wear-resistant layer can be laid on the surface of the ferromagnetic layer from inside to outside, and the ferromagnetic layer is used for comprehensive protection of corrosion resistance, collision resistance, wear reduction and the like of the landing surface.
Referring to fig. 4, in the present embodiment, the supporting mechanism includes four adjustable actuators symmetrically disposed around the lifting platform. And adjusting the height angle of the take-off and landing surface according to the relative position relation between the unmanned helicopter and the ship surface so as to assist in realizing the smooth docking and landing of the unmanned helicopter.
In a modified embodiment, the supporting mechanism may further comprise three, five, six or more actuators, which are arranged appropriately according to actual needs to realize the adjustment and control of the height and the angle of the landing surface.
In one improved embodiment, the supporting mechanism comprises a fixed supporting mechanism and an adjustable actuator, the fixed supporting mechanism limits the height of the lifting surface, and the angle of the lifting surface is adjusted through the action of the adjustable actuator so as to assist in achieving smooth butt joint and landing of the unmanned helicopter.
In one improved embodiment, the supporting mechanism is a multi-degree-of-freedom rocker arm, and the top of the rocker arm is arranged below the lifting surface.
The unmanned helicopter ship surface take-off and landing auxiliary system is provided with the stability augmentation platform end controller and the airborne end controller, the two controllers can carry out wireless information interaction and can respectively control the whole system in a wireless mode, and automatic control, manual control or man-machine interaction control is achieved.
Under the automatic control mode, increase steady platform end controller and receive unmanned aerial vehicle demand signal that takes off and land to send the position signal of platform to unmanned aerial vehicle, guide unmanned aerial vehicle to carry out the position and independently adjust, start the platform simultaneously and increase steady and actuate. The airborne end controller receives the power signal of the unmanned aerial vehicle and the signal of the touchdown sensor, when the power of the unmanned aerial vehicle is larger than a preset value during takeoff, the airborne end controller controls the electromagnet to release, and when the touchdown sensor detects touchdown during landing, the airborne end controller controls the electromagnet to attract.
Under the manual control mode, the manual work judges that unmanned aerial vehicle accords with the release and the butt joint opportunity of taking off and land, controls the release or the actuation of undercarriage electro-magnet through remote control machine carries end control ware, simultaneously, the manual work judges the start and stop opportunity of taking off and land platform, stops the operation through platform end control ware completion platform.
Under the man-machine interaction mode, when a preset lifting condition is met, the platform end controller sends out an operation prompt, and an operator performs release and suction operation. Meanwhile, the platform end control box can send a platform start-stop operation prompt, and an operator can start and stop the lifting platform.
According to the unmanned helicopter ship surface take-off and landing auxiliary system, the angle sensor and the height sensor are arranged on the take-off and landing surface of the take-off and landing platform, the change of the transverse and longitudinal inclination angle and the height of the take-off and landing surface can be measured after the platform is started, and then the angle and the position of the take-off and landing surface are controlled, so that the azimuth compensation of the take-off and landing surface is realized.
Particularly, when the lifting surface degree compensation control is needed: the actuator contracts according to the angle of the lifting surface and the angle measured by each shaft of the high-speed sensor, the actuator on the side with a high angle performs angle compensation actuation by means of extension, and when the angle sensor detects the angle level, the angle compensation actuation is stopped;
particularly, when the height compensation control of the lifting surface is needed: the height of the lifting surface relative to the sea level is recorded in advance by the angle and height sensors, when the sea level fluctuates, the height difference can be measured by the height sensors, all the actuators cooperatively extend and retract to compensate the height difference, and when the height difference measured by the height sensors is 0, the compensation actuation is stopped.
The foregoing is merely a detailed description of the embodiments of the present invention, and some of the conventional techniques are not detailed. The scope of the present invention is not limited thereto, and any changes or substitutions that can be easily made by those skilled in the art within the technical scope of the present invention will be covered by the scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
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