阅读说明：本技术 一种旋翼无人机的起落控制装置的控制方法 (Control method of landing control device of rotor unmanned aerial vehicle ) 是由 李馨嫔 王健 于 2017-10-13 设计创作，主要内容包括：本发明公开一种旋翼无人机的起落控制装置的控制方法,包括底座和浮板起飞台,所述底座上开有储物槽,所述底座和浮板起飞台之间设置有橡胶连接片,所述底座和浮板起飞台均与橡胶连接片固定连接,所述浮板起飞台和橡胶连接片盖住储物槽的槽口设置,所述储物槽内填充有液体金属,所述储物槽内设置有电热铁和半导体制冷片,所述底座侧面设置有PLC、电池盒和降落板,所述降落板上设置有探测装置和弹射机构,所述降落板下面设置有电动收线器,所述降落板中部设置有走线孔；该旋翼无人机的起落控制装置能让无人机在各种地形进行起飞和降落。(The invention discloses a control method of a lifting control device of a rotor unmanned aerial vehicle, which comprises a base and a floating plate take-off platform, wherein a storage groove is formed in the base, a rubber connecting sheet is arranged between the base and the floating plate take-off platform, the base and the floating plate take-off platform are both fixedly connected with the rubber connecting sheet, the floating plate take-off platform and the rubber connecting sheet cover the notch of the storage groove, liquid metal is filled in the storage groove, electrothermal iron and semiconductor refrigerating sheets are arranged in the storage groove, a PLC (programmable logic controller), a battery box and a landing plate are arranged on the side surface of the base, a detection device and an ejection mechanism are arranged on the landing plate, an electric wire collector is arranged below the landing plate, and a wiring hole is formed in the middle part of the landing plate; this rotor unmanned aerial vehicle's rise and fall controlling means can let unmanned aerial vehicle take off and descend in various topography.)

1. A control method of a landing control device of a rotor unmanned aerial vehicle is characterized in that,

rotor unmanned aerial vehicle's landing control device includes:

the electric take-up device comprises a base and a floating plate take-off platform, wherein a storage groove is formed in the base, a rubber connecting sheet is arranged between the base and the floating plate take-off platform, the base and the floating plate take-off platform are fixedly connected with the rubber connecting sheet, the floating plate take-off platform and the rubber connecting sheet cover the notch of the storage groove, liquid metal is filled in the storage groove, electric heating iron and semiconductor refrigerating sheets are arranged in the storage groove, a PLC (programmable logic controller), a battery box and a landing plate are arranged on the side face of the base, a detection device and an ejection mechanism are arranged on the landing plate, an electric take-up device is arranged below the landing plate, a wire hole is formed in the middle of the landing plate, a rope is arranged in the electric take-up device and penetrates through the wire hole, a shooting rod matched with the ejection mechanism is arranged at the tail end of the rope, a suction disc is arranged, The PLC, the detection device, the ejection mechanism and the electric wire rewinding device are electrically connected with the battery box, and the electric heating iron, the semiconductor refrigeration sheet, the detection device, the ejection mechanism and the electric wire rewinding device are electrically connected with the PLC;

the landing plate is provided with a buffer air cushion, and the buffer air cushion is detachably connected with the landing plate;

the detection device comprises an installation frame, a connecting plate and an infrared distance measuring sensor, wherein the installation frame is in mortise and tenon connection with the falling plate, the installation frame is in rotary connection with the connecting plate, and the infrared distance measuring sensor is in bolt connection with the connecting plate;

the ejection mechanism comprises an ejection cylinder with a C-shaped cross section, an opposite-top wave spring, a spiral spring and a trigger, a joint bearing is arranged between the ejection cylinder and a landing plate, the ejection cylinder is inserted into the joint bearing, the joint bearing is fixedly connected with the landing plate, the spiral spring is inserted into the opposite-top wave spring, the trigger is rotatably connected with the ejection cylinder, a steering engine is arranged on the side surface of the ejection cylinder, and the steering engine is connected with a steering engine disc used for jacking the trigger;

a support rod is arranged below the steering wheel disc, one end of the support rod is in threaded connection with the steering wheel disc, and the other end of the support rod is provided with a universal wheel which is in bolted connection with the support rod;

the falling plate and the base are arranged integrally; a temperature sensor is arranged in the storage groove;

the liquid metal is rubidium;

the method comprises the following steps:

1) taking-off control: the PLC controls the electric heating iron to heat the liquid metal in the storage tank, so that the liquid metal is changed from a solid state to a liquid state, and after the floating plate take-off platform is kept horizontal, the PLC controls the semiconductor refrigerating sheet to cool the liquid metal in the storage tank, so that the liquid metal is changed from the liquid state to the solid state, the floating plate take-off platform is kept horizontal all the time, and then the rotor unmanned aerial vehicle is placed on the floating plate take-off platform to take off;

2) controlling the landing: take off 3-5 minutes after the PLC drive detecting device constantly surveys rotor unmanned aerial vehicle, give PLC with the signal feedback after detecting unmanned aerial vehicle, PLC suspends detecting device work 2-4 seconds at once, then drives detecting device again and surveys, if still detect unmanned aerial vehicle then PLC drive ejection mechanism shoots unmanned aerial vehicle for the sucking disc holds unmanned aerial vehicle, and ejection mechanism shoots 2-5 seconds after, PLC drive electronic spooler retrieves unmanned aerial vehicle.

Technical Field

The invention relates to a landing control device of a rotor unmanned aerial vehicle.

Background

The unmanned plane is called unmanned plane for short, and is an unmanned plane operated by radio remote control equipment and a self-contained program control device. The machine has no cockpit, but is provided with an automatic pilot, a program control device and other equipment. The personnel on the ground, the naval vessel or the mother aircraft remote control station can track, position, remotely control, telemeter and digitally transmit the personnel through equipment such as a radar. The aircraft can take off like a common airplane under the radio remote control or launch and lift off by a boosting rocket, and can also be thrown into the air by a mother aircraft for flying. During recovery, the aircraft can land automatically in the same way as the common aircraft landing process, and can also be recovered by a parachute or a barrier net for remote control. Can be repeatedly used for many times. The system is widely used for aerial reconnaissance, monitoring, communication, anti-submergence, electronic interference, fire fighting and the like.

However, the existing unmanned aerial vehicle has high requirements on the terrain during takeoff and landing, and a person skilled in the art hopes that an auxiliary instrument can be developed to reduce the requirements on the terrain during takeoff and landing of the unmanned aerial vehicle.

Disclosure of Invention

The invention aims to provide a landing control device of a rotor wing unmanned aerial vehicle, which can enable the unmanned aerial vehicle to take off and land on various terrains.

In order to solve the problems, the invention adopts the following technical scheme:

a lifting control device of a rotor unmanned aerial vehicle comprises a base and a floating plate take-off platform, wherein a storage groove is formed in the base, a rubber connecting sheet is arranged between the base and the floating plate take-off platform, the base and the floating plate take-off platform are fixedly connected with the rubber connecting sheet, the floating plate take-off platform and the rubber connecting sheet cover the notch of the storage groove, liquid metal is filled in the storage groove, electrothermal iron and semiconductor refrigerating sheets are arranged in the storage groove, a PLC, a battery box and a landing plate are arranged on the side surface of the base, a detection device and an ejection mechanism are arranged on the landing plate, an electric wire collector is arranged below the landing plate, a wire walking hole is formed in the middle of the landing plate, a rope is arranged in the electric wire collector, the rope penetrates through the wire walking hole, a shooting rod matched with the ejection mechanism is arranged at the tail end of the rope, and a sucker is arranged at, the electric heating iron, the semiconductor refrigerating piece, the PLC, the detecting device, the ejection mechanism and the electric wire rewinding device are all electrically connected with the battery box, and the electric heating iron, the semiconductor refrigerating piece, the detecting device, the ejection mechanism and the electric wire rewinding device are all electrically connected with the PLC.

Preferably, be provided with the buffering air cushion on the board that falls, the buffering air cushion can be dismantled with the descending board and be connected, through be provided with the buffering air cushion on the board that falls, can prevent that unmanned aerial vehicle from striking the descending board and damaging.

As preferred, detection device includes mounting bracket, connecting plate and infrared distance measuring sensor, mounting bracket and falling board mortise and tenon joint, mounting bracket and connecting plate rotate to be connected, infrared distance measuring sensor and connecting plate bolted connection, mounting bracket and connecting plate rotate to be connected can the person of facilitating the use adjust infrared distance measuring sensor's detection angle.

As preferred, ejection mechanism includes that the section of thick bamboo of penetrating of personally submitting the C type, opposite vertex wave spring, coil spring and trigger, it is provided with joint bearing to penetrate between a section of thick bamboo and the descending board, penetrate in a section of thick bamboo inserts joint bearing, joint bearing and descending board fixed connection, coil spring inserts in the opposite vertex wave spring, the trigger rotates with penetrating a section of thick bamboo and is connected, it is provided with the steering wheel to penetrate a section of thick bamboo side, the steering wheel even has the steering wheel dish that is used for withstanding the trigger, ejection mechanism simple structure, easy maintenance has adopted the design of double spring moreover, has outstanding energy storage effect, can be so that penetrate the ejection that the pole can be better.

Preferably, a support rod is arranged below the steering engine disc, one end of the support rod is in threaded connection with the steering engine disc, a universal wheel is arranged at the other end of the support rod and is in bolted connection with the support rod, and the support rod is arranged below the steering engine disc, so that the burden of the steering engine disc can be effectively reduced.

Preferably, the falling plate and the base are arranged in an integrated mode, and the falling plate and the base form a whole and are stable in structure.

Preferably, the temperature sensor is arranged in the storage tank, and the temperature sensor is electrically connected with the PLC and can be used for monitoring the temperature in the storage tank by a user conveniently.

Preferably, the liquid metal is rubidium.

Another technical problem to be solved by the present invention is to provide a method for controlling a landing control device of a rotor drone, comprising the steps of:

1) taking-off control: the PLC controls the electric heating iron to heat the liquid metal in the storage tank, so that the liquid metal is changed from a solid state to a liquid state, and after the floating plate take-off platform is kept horizontal, the PLC controls the semiconductor refrigerating sheet to cool the liquid metal in the storage tank, so that the liquid metal is changed from the liquid state to the solid state, the floating plate take-off platform is kept horizontal all the time, and then the rotor unmanned aerial vehicle is placed on the floating plate take-off platform to take off;

2) controlling the landing: take off 3-5 minutes after the PLC drive detecting device constantly surveys rotor unmanned aerial vehicle, give PLC with the signal feedback after detecting unmanned aerial vehicle, PLC suspends detecting device work 2-4 seconds at once, then drives detecting device again and surveys, if still detect unmanned aerial vehicle then PLC drive ejection mechanism shoots unmanned aerial vehicle for the sucking disc holds unmanned aerial vehicle, and ejection mechanism shoots 2-5 seconds after, PLC drive electronic spooler retrieves unmanned aerial vehicle.

The invention has the beneficial effects that: the storing inslot through at the base is filled with liquid metal, can make liquid metal become liquid after heating liquid metal, even the place of placing of base slope liquid metal's liquid level also can be the horizontality, the kickboard takes off the platform and also can follow this liquid level and be the horizontality, then cool off liquid metal, make liquid metal turn back solid state, the parallel state that makes the kickboard take off the platform obtains fixedly, thereby can build good environment of taking off, be difficult to receive the influence of topography, and adopted initiative shooting unmanned aerial vehicle when descending, make the sucking disc catch again and pull back behind the unmanned aerial vehicle, it is convenient and low with the topography relevance to descend, in addition, be provided with the buffering air cushion on the board that falls, the buffering air cushion can be dismantled with the board that falls and be connected, through being provided with the buffering air cushion on the board that falls, can prevent that unmanned aerial vehicle from striking the. Detection device includes mounting bracket, connecting plate and infrared distance measuring sensor, and mounting bracket and falling board mortise and tenon joint, mounting bracket and connecting plate rotate to be connected, and infrared distance measuring sensor and connecting plate bolted connection, mounting bracket and connecting plate rotate to be connected can the person of facilitating the use adjust infrared distance measuring sensor's detection angle. Ejection mechanism includes the section of thick bamboo of penetrating of personally submitting the C type, opposite vertex wave spring, coil spring and trigger, it is provided with joint bearing to penetrate between a section of thick bamboo and the descending board, penetrate a section of thick bamboo and insert in joint bearing, joint bearing and descending board fixed connection, coil spring inserts in the opposite vertex wave spring, the trigger rotates with penetrating a section of thick bamboo and is connected, it is provided with the steering wheel to penetrate a section of thick bamboo side, the steering wheel even has the steering wheel dish that is used for withstanding the trigger, ejection mechanism simple structure, easy maintenance, and the design of double spring has been adopted, outstanding energy storage effect has, can be so that penetrate the ejection that the pole can be better. Be provided with the bracing piece below the steering wheel dish, bracing piece one end and steering wheel dish threaded connection, the bracing piece other end is provided with the universal wheel, and universal wheel and bracing piece bolted connection are through being provided with the bracing piece below the steering wheel dish, can effectual reduction steering wheel dish burden. The falling plate and the base are arranged in an integrated mode, and the falling plate and the base form a whole and are stable in structure. Be provided with temperature sensor in the storing inslot, through be provided with temperature sensor in the storing inslot, temperature sensor and PLC electric connection can the person of facilitating the use monitor the temperature in the storing inslot.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic view of the overall structure of a landing control device of a rotorcraft according to the invention;

figure 2 is a perspective view of a detection device of the landing control device of a rotorcraft according to the present invention;

FIG. 3 is a schematic view of the internal structure of an ejection mechanism of a landing gear control device for a rotorcraft in accordance with the present invention;

figure 4 is a perspective view of the rudder plate of the landing control device of a rotorcraft of the present invention.

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.