阅读说明：本技术 负表面着陆机构、旋翼无人机及其着陆与起飞方法 (Negative surface landing mechanism, rotor unmanned aerial vehicle and landing and takeoff method thereof ) 是由 何青松 于敏 徐显锐 孙正 霍凯 岳英豪 王朝阳 吴雨薇 吉爱红 戴振东 于 2020-12-16 设计创作，主要内容包括：本发明公开了一种负表面着陆机构、旋翼无人机及其着陆与起飞方法,所述着陆机构用于实现无人机在着陆面为负表面上的着陆与起飞,包括底座、支杆、顶座、基板、微刺阵列、驱动装置和复位组件等,基板的顶部设有高出无人机的背部最高点的微刺阵列,微刺阵列包括倾斜设置于基板上的多个微刺；通过基板在顶座上往复运动,实现微刺与粗糙/柔软负表面之间的结合与分离。本发明通过微刺结构与负表面的机械结合,使无人机着陆,解决了基于仿生干黏附材料的着陆方式不能在粗糙负表面着陆的问题,在一些需要无人机长时间悬停的任务中,可省去执行任务过程中维持无人机高度所需的能量,延长无人机的工作时间,可用于巡检、监控以及摄像等领域。(The invention discloses a negative surface landing mechanism, a rotor unmanned aerial vehicle and a landing and take-off method thereof, wherein the landing mechanism is used for realizing landing and take-off of the unmanned aerial vehicle on a negative surface of a landing surface and comprises a base, a support rod, a top seat, a base plate, a micro-thorn array, a driving device, a reset assembly and the like, wherein the top of the base plate is provided with the micro-thorn array higher than the highest point of the back of the unmanned aerial vehicle, and the micro-thorn array comprises a plurality of micro-thorns obliquely arranged on the base plate; the combination and separation between the micro-pricks and the rough/soft negative surface is realized by the reciprocating motion of the substrate on the top seat. According to the invention, the micro-thorn structure is mechanically combined with the negative surface, so that the unmanned aerial vehicle lands, the problem that the landing mode based on the bionic dry adhesion material cannot land on the rough negative surface is solved, in some tasks requiring the unmanned aerial vehicle to hover for a long time, the energy required for maintaining the height of the unmanned aerial vehicle in the task execution process can be saved, the working time of the unmanned aerial vehicle is prolonged, and the unmanned aerial vehicle can be used in the fields of routing inspection, monitoring, camera shooting and the like.)

1. The utility model provides a negative surface landing mechanism for realize that unmanned aerial vehicle is landing and taking off on the negative surface at the landing surface, its characterized in that: the landing mechanism is installed on the back of the unmanned aerial vehicle body through the base, the base is provided with a machine base and a plurality of support rods uniformly distributed around the machine base, the driving device is installed on the machine base, the top of each support rod is fixedly connected with the top base, the top base is connected with the two base plates, the top of each base plate is provided with a micro-thorn array higher than the highest point of the back of the unmanned aerial vehicle, and each micro-thorn array comprises a plurality of micro-thorns obliquely arranged on the base plate; the base plate reciprocates on the top seat through the driving device and the reset assembly, and the combination and the separation between the micro-pricks and the rough negative surface are realized.

2. The negative surface landing mechanism of claim 1, wherein: the top seat is provided with a sliding chute, a first limiting hole is arranged below the sliding chute, two ends of the sliding chute are respectively provided with a substrate, and the inclined directions of the micro-thorns in the micro-thorn arrays on the two substrates face the inner side of the substrate; the bottom of each substrate is provided with a sliding rail matched with the sliding groove, a second limiting hole is arranged below the sliding rail, and the second limiting hole of each substrate is opposite to the first limiting hole of the top seat; the reset assembly comprises a spring, two ends of the spring are respectively fixed in a first limiting hole and a second limiting hole which are opposite in position, and the axial direction of the spring is the same as the sliding direction of the sliding rail.

3. The negative surface landing mechanism of claim 1, wherein: the driving device adopts a steering engine, the base is a steering engine seat, the steering engine is provided with an output shaft with an adjustable rotation angle, the end part of the output shaft is provided with a coupler, a wire shaft and a pull wire, one end of the pull wire is wound on the wire shaft, and the other end of the pull wire is fixedly connected with the substrate.

4. The negative surface landing mechanism of claim 3, wherein: the bottom of the base plate is provided with a pull ring, one end of a pull wire is wound on the spool, the other end of the pull wire is tied on the pull ring, and the pull wire is a rigid rope.

5. The negative surface landing mechanism of claim 1, wherein: the landing mechanism is of a symmetrical structure and is installed at the center of the back of the unmanned aerial vehicle, and the base is arranged at the center of the base.

6. The negative surface landing mechanism of claim 1, wherein: the micro-thorn array is made of rigid materials and is used for penetrating into a rough negative surface and bearing the gravity of the unmanned aerial vehicle and enabling the deformation to be within a preset range after penetrating into a landing surface.

7. The negative surface landing mechanism of claim 1, wherein: the negative surface landing mechanism is also provided with a charging interface.

8. A rotor unmanned aerial vehicle, its characterized in that: the landing mechanism comprises a fuselage, a rotor wing motor for controlling the operation of the rotor wing and the negative surface landing mechanism according to any one of claims 1 to 7, wherein a base of the landing mechanism is installed on the back of the fuselage, and a base plate is higher than the top of the rotor wing, so that the landing and take-off of the unmanned aerial vehicle on the negative surface of a landing surface are realized.

9. The rotary-wing drone of claim 4, wherein: the landing mechanism is characterized by further comprising an unmanned aerial vehicle main controller and a remote control module, and landing and takeoff operations of the landing mechanism are controlled by the remote control module.

10. A method of landing and takeoff on a rotary-wing drone according to claim 8, comprising the steps of:

the rotor unmanned aerial vehicle gradually approaches the rough negative surface until the micro-thorns contact the rough negative surface, the steering engine receives a control signal, an output shaft of the steering engine rotates, the pull wire pulls the base plate to move inwards, the spring is compressed, the micro-thorns in the micro-thorn array penetrate the rough negative surface, and the unmanned aerial vehicle can land on the rough negative surface;

when taking off, at first make the steering wheel reset, the spring of compression resets, promotes the base plate and will prick a little and release from rough negative surface, starts the motor of rotor simultaneously, and rotor unmanned aerial vehicle can fly away from rough negative surface.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a negative surface landing mechanism, a rotor unmanned aerial vehicle and a landing and takeoff method thereof.

Background

The landing is the most important link in the unmanned aerial vehicle safe autonomous flight process, and the existing micro aircraft generally lands on the ground, and the landing mode is single, so that the application of the unmanned aerial vehicle is limited. For tasks requiring long-time hovering (such as meeting place shooting, monitoring and the like), if the unmanned aerial vehicle can land on a negative surface at a high place nearby, the energy required for maintaining the height of the unmanned aerial vehicle can be saved, and the working time of the unmanned aerial vehicle can be prolonged.

The existing proposed method hopeful for landing the unmanned aerial vehicle on the negative surface is an electrostatic adhesion method, such as reference 1: perch and take of foam adhesive on adhesive using switch adhesive addition [ J ] Science,2016,352(6288) 978-; a landing and takeoff method based on a bionic dry adhesion material, as described in reference 2: an unmanned aerial vehicle based on bionic dry adhesion materials and a landing and takeoff method of a non-horizontal surface, Chinese patent 201910627348.6, Heqingsong, Xushiyirui, Hookai, Wangzhaoyang and the like. But the static adheres to and needs great power module, and this has violated unmanned aerial vehicle lightweight's requirement, is unfavorable for practical application. The landing and taking-off method based on the bionic dry adhesion material can stably land on a smooth landing surface, but for a rough landing surface, the effective contact area between the bionic dry adhesion material and the landing surface is greatly reduced.

In the chinese patent with publication No. CN108583863B, "a four-rotor aircraft with wall landing and takeoff functions", a landing gear connected to a rotorcraft body is disclosed, the landing gear includes a connecting frame, a supporting rod, a supporting leg, a U-shaped landing gear, a rotating shaft, a gliding wheel, an adhesion mechanism, an elastic element, a locking spring, etc., after the rotorcraft is required to turn over a small angle, the gravity of the four-rotor aircraft is balanced by an adhesion device, the four-rotor aircraft body changes posture to make the top surface of the four-rotor aircraft close to the wall surface, so that the four-rotor aircraft lands stably, the landing structure has a large volume, the structure and the operation principle are complex, and the landing structure is also adsorbed to the wall surface by the adhesion principle.

Disclosure of Invention

The technical purpose is as follows: aiming at the technical problems of the existing micro unmanned aerial vehicle landing mode, the invention provides a negative surface landing mechanism, a rotor unmanned aerial vehicle and a landing and taking-off method thereof, which can realize stable and reliable taking-off and landing of the unmanned aerial vehicle on a rough negative surface.

The technical scheme is as follows: in order to achieve the technical purpose, the invention adopts the following technical scheme:

the utility model provides a negative surface landing mechanism for realize that unmanned aerial vehicle is landing and taking off on the negative surface at the landing surface, its characterized in that: the landing mechanism is installed on the back of the unmanned aerial vehicle body through the base, the base is provided with a machine base and a plurality of support rods uniformly distributed around the machine base, the driving device is installed on the machine base, the top of each support rod is fixedly connected with the top base, the top base is connected with the two base plates, the top of each base plate is provided with a micro-thorn array higher than the highest point of the back of the unmanned aerial vehicle, and each micro-thorn array comprises a plurality of micro-thorns obliquely arranged on the base plate; the base plate reciprocates on the top seat through the driving device and the reset assembly, and the combination and the separation between the micro-pricks and the rough negative surface are realized. Namely, the base plate is driven by the driving device to move on the top seat to drive the micro-thorn array to move, so that the micro-thorns can pierce into the negative surface when the unmanned aerial vehicle lands on the negative surface, the reset component is used for enabling the base plate to return to the original position after the external driving force disappears, so that the micro-thorns can be separated from the negative surface when the unmanned aerial vehicle takes off,

preferably, the top seat is provided with a sliding chute, a first limiting hole is arranged below the sliding chute, two ends of the sliding chute are respectively provided with a substrate, and the inclination directions of the micro-thorns in the micro-thorns arrays on the two substrates face the inner side of the substrate; the bottom of each substrate is provided with a sliding rail matched with the sliding groove, a second limiting hole is arranged below the sliding rail, and the second limiting hole of each substrate is opposite to the first limiting hole of the top seat; the reset assembly comprises a spring, two ends of the spring are respectively fixed in a first limiting hole and a second limiting hole which are opposite in position, and the axial direction of the spring is the same as the sliding direction of the sliding rail.

Preferably, the driving device adopts a steering engine, the base is a steering engine base, the steering engine is provided with an output shaft with an adjustable rotation angle, the end part of the output shaft is provided with a coupler, a spool and a pull wire, one end of the pull wire is wound on the spool, and the other end of the pull wire is fixedly connected with the substrate.

Preferably, the bottom of the base plate is provided with a pull ring, one end of a pull wire is wound on the spool, the other end of the pull wire is tied on the pull ring, and the pull wire is a rigid rope.

Preferably, the landing mechanism is of a symmetrical structure and is installed at the center of the back of the unmanned aerial vehicle, and the base is arranged at the center of the base.

Preferably, the micro-thorn array is made of rigid materials and used for penetrating into the rough negative surface, bearing the gravity of the unmanned aerial vehicle after penetrating into the landing surface, and enabling the deformation to be within a preset range.

Preferably, the negative surface landing mechanism is further provided with a charging interface.

A rotor unmanned aerial vehicle, its characterized in that: including fuselage, rotor, be used for controlling the rotor motor of rotor operation and burden surface landing mechanism, the pedestal mounting of landing mechanism is in the back of fuselage, the top that the base plate exceeds the rotor, realizes that unmanned aerial vehicle is landing and taking off on the negative surface at the landing surface.

Preferably, the unmanned aerial vehicle further comprises an unmanned aerial vehicle main controller and a remote control module, and the landing and take-off operations of the landing mechanism are controlled by the remote control module.

A landing and takeoff method of a rotor unmanned aerial vehicle is characterized by comprising the following steps:

the rotor unmanned aerial vehicle gradually approaches the rough negative surface until the micro-thorns contact the rough negative surface, the steering engine receives a control signal, an output shaft of the steering engine rotates, the pull wire pulls the base plate to move inwards, the spring is compressed, the micro-thorns in the micro-thorn array penetrate the rough negative surface, and the unmanned aerial vehicle can land on the rough negative surface;

when taking off, at first make the steering wheel reset, the spring of compression resets, promotes the base plate and will prick a little and release from rough negative surface, starts the motor of rotor simultaneously, and rotor unmanned aerial vehicle can fly away from rough negative surface.

Has the advantages that: compared with the prior art, the invention has the following technical effects:

according to the landing method of the rotor unmanned aerial vehicle on the rough negative surface, the unmanned aerial vehicle lands through the mechanical combination of the micro-thorn structure and the rough negative surface, and the problem that the unmanned aerial vehicle cannot land on the rough negative surface based on the landing mode of the bionic dry adhesion material is solved; in some tasks that need unmanned aerial vehicle to hover for a long time, this landing method can save the energy that the high needs of unmanned aerial vehicle are maintained in the executive task in-process, can prolong unmanned aerial vehicle's operating time, can be used to fields such as patrolling and examining, control and make a video recording, has certain spreading value.

Drawings

Fig. 1 is a schematic view of the overall structure of a rotary-wing drone capable of landing on a rough negative surface according to an embodiment of the present invention;

fig. 2 is a schematic view of an unmanned aerial vehicle landing on a rough negative surface according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a landing mechanism provided in an embodiment of the present invention;

FIG. 4 is a partial cross-sectional view of a landing mechanism provided by an embodiment of the present invention;

FIG. 5 is a schematic view of a base and a rudder mount of a landing mechanism provided in an embodiment of the present invention;

FIG. 6 is a schematic top-mount view of a landing mechanism provided in accordance with an embodiment of the present invention;

FIG. 7 is a schematic diagram of a substrate of a landing mechanism provided in an embodiment of the invention;

the numbers in the figures are as follows: 1-1, a rotor unmanned aerial vehicle; 1-2, a landing mechanism; 2-1, micro-pricking; 2-2, rough negative surface; 4-1, a base; 4-2, a steering engine; 4-3, a coupler; 4-4, a bobbin; 4-5, a spring; 4-6, a substrate; 4-8, a stay wire; 4-9, a top seat; 4-10, a support rod; 5-1, a steering engine seat; 6-1, a first limiting hole 1; 7-2, a chute; 7-1 and a second limiting hole 2; 7-3 and a pull ring.

Detailed Description

The technical solution of the present invention is further described in detail below with reference to the accompanying drawings and examples.

Examples

The embodiment takes a quad-rotor unmanned aerial vehicle as an example, and provides a landing take-off mechanism capable of landing on a rough negative surface (such as a rough ceiling surface), which comprises a quad-rotor unmanned aerial vehicle, a remote control module and a landing mechanism, wherein the landing mechanism is designed to be a symmetrical structure and is arranged at the central position of the back of the unmanned aerial vehicle; the remote control module controls the flight of the unmanned aerial vehicle, and also controls the actions of the landing mechanism during landing and taking off. The landing mechanism comprises a support, a steering engine, a pull wire, a base plate, a micro-thorn, a pull wire, a spool and a spring, wherein the steering engine is fixed at the center of the support, an output shaft is connected with the spool, the pull wire is connected between the base plate and the spool at two sides, and the spring is installed between the base plate and the support. The base plate at the top of the landing mechanism is provided with an inclined micro-thorn array, and the take-off and landing of the unmanned aerial vehicle are realized through the combination and separation of the micro-thorn array and the rough negative surface.

The overall structure schematic diagram is shown in fig. 1, and the unmanned aerial vehicle comprises a rotor unmanned aerial vehicle 1-1 and a landing mechanism 1-2, wherein the landing mechanism 2-2 is fixedly installed at the central position of the back of the unmanned aerial vehicle, and the height of the landing mechanism is higher than that of the rotor.

The schematic diagram of the unmanned aerial vehicle landing on the rough negative surface is shown in fig. 2, and the micro-pricks 2-1 on the landing mechanism pierce the rough negative surface 2-2 and are combined with the negative surface to overcome the gravity of the unmanned aerial vehicle, so that the unmanned aerial vehicle lands on the negative surface.

The landing mechanism 1-2 is further described with reference to fig. 3 to 7, and comprises a base 4-1, a steering engine 4-2, a coupler 4-3, a bobbin 4-4, a spring 4-5, a base plate 4-6, a micro-thorn 2-1, a pull wire 4-8, a top seat 4-9 and a support rod 4-10. The steering engine 4-2 is arranged on a steering engine base 5-1 in the center of the base 4-4; an output shaft of the steering engine 4-2 is connected with a spool 4-4 through a coupler 4-3 and synchronously rotates; the bobbin 4-4 is connected with the base plates 4-6 at two sides through a pull wire 4-8; one section of the pull wire 4-8 is wound on the bobbin 4-4, and the other end of the pull wire is tied on a pull ring 7-3 below the substrate 4-6; a sliding rail 7-2 is arranged below the base plate 4-6 and can slide in the sliding groove 6-2 of the top seat 4-9 in a reciprocating manner; the base plate 4-6 and the top seat 4-9 are respectively provided with a first limiting hole 6-1 and a second limiting hole 7-1 for mounting the spring 4-5, and the axial direction of the spring 4-5 is the same as the direction of the sliding rail 7-2 or the sliding groove 6-2; as shown in fig. 4, the spring 4-5 is installed between the top seat 4-9 and the base plate 4-6, one section of the spring 4-5 is fixed in the first limiting hole 6-1 of the top seat 4-9, and the other end is fixed in the second limiting hole 7-1 of the base plate 4-6; the micro-thorns 4-1 are embedded above the substrate 4-6 and are inclined inwards at a certain angle.

The steering engine 4-2 rotates to enable the base plate 4-6 to slide inwards through the pull wire 4-8, the micro-thorns 4-7 on the base plate 4-6 penetrate into the rough negative surface, and the unmanned aerial vehicle can land on the rough negative surface as shown in the figure 2. In addition, the spring 4-5 between the base plate 4-6 and the top seat 4-9 is compressed.

When the unmanned aerial vehicle takes off, the steering engine 4-2 is reset, the base plate 4-6 slides outwards under the action of the elastic force of the spring 4-5, the micro-thorns 4-7 are separated from the rough negative surface, and the unmanned aerial vehicle can take off from the negative surface by starting the motor.

The base plate is connected with the support of the landing mechanism through a sliding pair, the sliding pair comprises a spring with a resetting function, and the base plate reciprocates through a steering engine and the spring to realize the combination and separation between the micro-pricks and the rough negative surface.

In the invention, the micro-pricks have certain rigidity, such as stainless steel materials, so as to ensure that the micro-pricks can pierce into a rough negative surface and bear the gravity of the unmanned aerial vehicle after piercing into a landing surface without generating excessive deformation. The landing mechanism can be used for rough or soft negative surfaces, has no hardness requirement on the rough surfaces, and the hardness of the soft surfaces is within a certain range, so that the micro-thorn arrays can be penetrated, and the weight of the unmanned aerial vehicle can be borne without falling off. The bracing wire between connection base plate and the spool is the rigidity rope, and non-extension and shortening, when unmanned aerial vehicle landed, the steering wheel was through the inboard motion of bracing wire pulling base plate, and the coarse negative surface of stinging of the thorn on the base plate of a little, unmanned aerial vehicle alright hang on the negative surface, the steering wheel resets when taking off, under the effect of spring elasticity, the thorn breaks away from the landing surface a little, and unmanned aerial vehicle can fly away from the coarse negative surface.

The landing and takeoff method of the rotor unmanned aerial vehicle provided with the landing mechanism comprises the following steps:

unmanned aerial vehicle is close to rough negative surface gradually, and until stinging the contact to the negative surface a little, send signal for the steering wheel and make its certain angle of rotation, act as go-between can the rolling to the spool on, the length of acting as go-between that releases shortens between spool and the pull ring, tighten up, the pulling base plate moves to the inboard and makes the spring compression, and the stinging of stinging a little to the inboard slope pierces rough negative surface, unmanned aerial vehicle alright landing on rough negative surface.

When taking off, at first make the steering wheel reset, steering wheel output shaft counter rotation, the epaxial wiring of spool releases, and the spring loses the external force compression, and the spring of compression promotes the base plate and releases the thorn from rough negative surface a little, starts the motor of rotor simultaneously, and rotor unmanned aerial vehicle can fly away from rough negative surface.

As a further improvement of the invention, the landing mechanism of the unmanned aerial vehicle is also provided with a charging interface, and the unmanned aerial vehicle can be charged when the landing mechanism lands on a negative surface with a corresponding charging interface.

The rotor unmanned aerial vehicle can be simultaneously provided with a landing mechanism which is used for a forward horizontal plane and is matched with a common rotor unmanned aerial vehicle. The landing mode of the unmanned aerial vehicle is selected to land on a positive horizontal surface or a negative surface.

Finally, it is necessary to point out that: the above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.