CN113815865B - Air taking-off and landing system and air taking-off and landing method - Google Patents
Air taking-off and landing system and air taking-off and landing method Download PDFInfo
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- CN113815865B CN113815865B CN202111294847.1A CN202111294847A CN113815865B CN 113815865 B CN113815865 B CN 113815865B CN 202111294847 A CN202111294847 A CN 202111294847A CN 113815865 B CN113815865 B CN 113815865B
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- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000007704 transition Effects 0.000 description 4
- 238000007792 addition Methods 0.000 description 2
- 238000012217 deletion Methods 0.000 description 2
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- 238000006467 substitution reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/82—Airborne vehicles
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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
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Abstract
The invention provides an air landing system and an air landing method, wherein the air landing system comprises a landing platform, a multi-rotor unmanned aerial vehicle and a control unit; the take-off and landing platform is provided with a conveyor belt which is used as a take-off and landing runway of the fixed wing unmanned aerial vehicle; the multi-rotor unmanned aerial vehicle is respectively connected to the take-off and landing platform; the control unit is respectively connected with the conveyor belt and the multi-rotor unmanned aerial vehicle and used for collecting position information of the fixed-wing unmanned aerial vehicle and controlling the conveyor belt and the multi-rotor unmanned aerial vehicle according to the position information; the aerial landing system can drive the fixed wing unmanned aerial vehicle to land by controlling the conveyor belt to work along the direction opposite to the flying direction of the fixed wing unmanned aerial vehicle, and can fly along the direction same as the flying direction of the fixed wing unmanned aerial vehicle by controlling the multi-rotor unmanned aerial vehicle to drive the landing platform, so that the fixed wing unmanned aerial vehicle can take off.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an air take-off and landing system and an air take-off and landing method.
Background
The existing take-off and landing schemes of the fixed-wing unmanned aerial vehicle mainly comprise two schemes, wherein one scheme is a conventional runway running and landing scheme, and the other scheme is a scheme combining catapult-assisted take-off and parachute landing. However, runway landing schemes require a flat and long runway with high landing sites. Furthermore, the failure probability of the catapulting parachute landing combination scheme is higher than that of the runway running landing scheme, and damage can be caused to the fixed wing unmanned aerial vehicle. In addition, the two lifting schemes aiming at the fixed wing unmanned aerial vehicle are all required to be completed on the ground, so that the land occupation is caused, and flexible transition cannot be realized.
Disclosure of Invention
It is a primary object of the present invention to overcome at least one of the above-mentioned drawbacks of the prior art by providing an air lift system for a fixed wing unmanned aerial vehicle that enables take-off and landing in the air.
Another main object of the present invention is to overcome at least one of the above drawbacks of the prior art, and to provide an air lift method for a fixed wing unmanned aerial vehicle to take off and land in the air.
In order to achieve the above purpose, the invention adopts the following technical scheme:
according to one aspect of the invention, an aerial landing system is provided for realizing aerial landing of a fixed-wing unmanned aerial vehicle, and comprises a landing platform, a multi-rotor unmanned aerial vehicle and a control unit; the take-off and landing platform is provided with a conveyor belt which is used as a take-off and landing runway of the fixed wing unmanned aerial vehicle; the multi-rotor unmanned aerial vehicle is connected to the take-off and landing platform; the control unit is respectively connected with the conveyor belt and the multi-rotor unmanned aerial vehicle, and is used for collecting position information of the fixed-wing unmanned aerial vehicle and controlling the conveyor belt and the multi-rotor unmanned aerial vehicle according to the position information; wherein the over-the-air landing system is configured to: the fixed wing unmanned aerial vehicle is controlled to drive to work along the direction opposite to the flight direction of the fixed wing unmanned aerial vehicle, so that the fixed wing unmanned aerial vehicle can land, and the multi-rotor unmanned aerial vehicle is controlled to drive the landing platform to fly along the direction same as the take-off direction of the fixed wing unmanned aerial vehicle, so that the fixed wing unmanned aerial vehicle can take off.
According to one embodiment of the invention, the lifting platform is respectively provided with a plurality of driving rollers through a plurality of fixed shafts, the aerial lifting system comprises a plurality of pairs of multi-rotor unmanned aerial vehicles, the plurality of pairs of multi-rotor unmanned aerial vehicles respectively correspond to the plurality of driving rollers, and two multi-rotor unmanned aerial vehicles in the same pair are respectively connected to two ends of the corresponding fixed shafts.
According to one embodiment of the invention, the landing platform is provided with a DPS positioning module, and the GPS positioning module is used for sending the position information of the landing platform to the fixed-wing unmanned aerial vehicle.
According to one embodiment of the invention, the conveyor belt is wound on the top surface and the bottom surface of the landing platform, so that the conveyor belt positioned on the top surface of the landing platform is used as a landing runway of the fixed-wing unmanned aerial vehicle.
According to one embodiment of the invention, the multi-rotor unmanned aerial vehicle is connected to the landing platform through a connecting structure.
According to another aspect of the present invention, there is provided an airborne landing method for airborne landing of a fixed-wing unmanned aerial vehicle, the airborne landing method comprising: providing the air lifting system proposed by the invention and described in the above embodiment; controlling the conveyor belt to drive in a direction opposite to the flight direction of the fixed wing unmanned aerial vehicle so as to enable the fixed wing unmanned aerial vehicle to land on the conveyor belt; and controlling the multi-rotor unmanned aerial vehicle to drive the take-off and landing platform to fly along the same direction as the take-off direction of the fixed-wing unmanned aerial vehicle so as to enable the fixed-wing unmanned aerial vehicle to take off.
According to one embodiment of the invention, the transmission speed of the conveyor belt is smaller than the landing speed of the fixed wing unmanned aerial vehicle.
According to one embodiment of the invention, the flying speed of the multi-rotor unmanned aerial vehicle driving the take-off and landing platform is greater than or equal to the take-off speed of the fixed-wing unmanned aerial vehicle.
According to one embodiment of the invention, in the process of landing of the fixed wing unmanned aerial vehicle, position information of the fixed wing unmanned aerial vehicle is collected, and when the distance between the fixed wing unmanned aerial vehicle and the lifting platform in the flight direction of the fixed wing aircraft is smaller than a preset distance, the transmission belt is controlled to work.
According to one embodiment of the invention, in the process of taking off the fixed wing unmanned aerial vehicle, position information of the fixed wing unmanned aerial vehicle is collected, and when the fixed wing unmanned aerial vehicle and the lifting platform are greater than a preset distance in the height direction, the multi-rotor unmanned aerial vehicle is controlled to hover or fly away.
According to the technical scheme, the air landing system and the air landing method provided by the invention have the advantages and positive effects that:
the invention provides an aerial landing system which comprises a landing platform, a multi-rotor unmanned aerial vehicle and a control unit. The lifting platform is provided with a conveyor belt. Many rotor unmanned aerial vehicle connect in take off and land the platform. The control unit is used for collecting position information of the fixed-wing unmanned aerial vehicle and controlling the conveyor belt and the multi-rotor unmanned aerial vehicle according to the position information. Through the design, the fixed wing unmanned aerial vehicle can drive to work in the direction opposite to the flight direction of the fixed wing unmanned aerial vehicle by controlling the conveyor belt, so that the fixed wing unmanned aerial vehicle can land, and can fly in the same direction as the take-off direction of the fixed wing unmanned aerial vehicle by controlling the multi-rotor unmanned aerial vehicle to drive the take-off and landing platform, so that the fixed wing unmanned aerial vehicle can take off. Therefore, the invention can realize the aerial take-off and landing of the fixed wing unmanned aerial vehicle, has lower failure probability, is not easy to damage the fixed wing unmanned aerial vehicle, does not occupy the ground, and can realize flexible transition.
Drawings
Various objects, features and advantages of the present invention will become more apparent from the following detailed description of the preferred embodiments of the invention, when taken in conjunction with the accompanying drawings. The drawings are merely exemplary illustrations of the invention and are not necessarily drawn to scale. In the drawings, like reference numerals refer to the same or similar parts throughout. Wherein:
FIG. 1 is a system schematic diagram of an airborne landing system while a fixed wing drone is landing, according to an example embodiment;
FIG. 2 is a system schematic diagram of the airborne landing system shown in FIG. 1 when the fixed wing drone is taking off;
fig. 3 is a flow diagram illustrating an over-the-air landing method according to an example embodiment.
The reference numerals are explained as follows:
100. an aerial landing system;
110. a landing platform;
120. a conveyor belt;
130. multiple rotor unmanned aerial vehicle;
140. a fixed shaft;
150. a cable;
200. fixed wing unmanned aerial vehicle;
S1-S3, the steps are carried out.
Detailed Description
Exemplary embodiments that embody features and advantages of the present invention are described in detail in the following description. It will be understood that the invention is capable of various modifications in various embodiments, all without departing from the scope of the invention, and that the description and drawings are intended to be illustrative in nature and not to be limiting.
In the following description of various exemplary embodiments of the invention, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various exemplary structures, systems, and steps in which aspects of the invention may be practiced. It is to be understood that other specific arrangements of parts, structures, example devices, systems, and steps may be utilized and structural and functional modifications may be made without departing from the scope of the present invention. Moreover, although the terms "over," "between," "within," and the like may be used in this description to describe various exemplary features and elements of the invention, these terms are used herein for convenience only, e.g., in terms of the orientation of the examples depicted in the drawings. Nothing in this specification should be construed as requiring a particular three-dimensional orientation of the structure in order to fall within the scope of the invention.
Referring to fig. 1, a schematic system diagram of an airborne landing system 100 according to the present invention is representatively illustrated when a fixed-wing drone 200 is landing. In this exemplary embodiment, the airborne landing system 100 proposed by the present invention is described as applied to the fixed-wing unmanned aerial vehicle 200. Those skilled in the art will readily appreciate that many modifications, additions, substitutions, deletions, or other changes may be made to the specific embodiments described below in order to adapt the relevant designs of the present invention for use in other types of applications while remaining within the principles of the air lift system 100 presented herein.
As shown in fig. 1, in the present embodiment, the airborne landing system 100 provided by the present invention is used for realizing airborne landing of a fixed-wing unmanned aerial vehicle 200, where the airborne landing system 100 includes a landing platform 110, a multi-rotor unmanned aerial vehicle 130, and a control unit. Referring to fig. 2 in conjunction, a schematic system diagram of an airborne landing system 100 that can embody principles of the present invention when landing a fixed wing drone 200 is representatively illustrated in fig. 2. The structure, connection and functional relationship of the main components of the air landing system 100 according to the present invention will be described in detail below with reference to the above drawings.
As shown in fig. 1 and 2, in the present embodiment, the landing platform 110 is provided with a conveyor belt 120, and the conveyor belt 120 serves as a landing runway for the fixed wing unmanned aerial vehicle 200. The multi-rotor unmanned aerial vehicle 130 is connected to the landing platform 110, and is used for suspending the landing platform 110 from control and driving the landing platform 110 to fly under control. The control unit is connected to the conveyor belt 120 and the multi-rotor unmanned aerial vehicle 130 respectively, and the control unit can control the conveyor belt 120 and the multi-rotor unmanned aerial vehicle 130 according to the position information of the fixed-wing unmanned aerial vehicle 200. Through the design, when the air taking-off and landing system 100 provided by the invention realizes the air taking-off and landing of the fixed-wing unmanned aerial vehicle 200, the fixed-wing unmanned aerial vehicle 200 can be driven to land by controlling the conveyor belt 120 in the direction opposite to the flight direction of the fixed-wing unmanned aerial vehicle 200, the multi-rotor unmanned aerial vehicle 130 can be controlled to drive the taking-off and landing platform 110 to fly in the same direction as the take-off direction of the fixed-wing unmanned aerial vehicle 200, and the fixed-wing unmanned aerial vehicle 200 can take-off. Accordingly, the invention can realize the aerial take-off and landing of the fixed wing unmanned aerial vehicle 200, has lower failure probability, is not easy to damage the fixed wing unmanned aerial vehicle 200, does not occupy the ground, and can realize flexible transition.
Specifically, as shown in fig. 1 and 2, in the present embodiment, the landing platform 110 may be provided with two driving rollers, which may be used for arrangement and driving of the conveyor belt 120, through two fixed shafts 140, respectively. Based on this, the aerial lift system 100 may include two pairs of multi-rotor unmanned aerial vehicles 130, that is, four pairs of multi-rotor unmanned aerial vehicles 130, where the two pairs of multi-rotor unmanned aerial vehicles 130 respectively correspond to two driving rollers, and the two pairs of multi-rotor unmanned aerial vehicles 130 are respectively connected to two ends of the corresponding fixed shaft 140. Through the design, the multi-rotor unmanned aerial vehicle 130 can suspend the lifting platform 110 more stably and reliably. In some embodiments, the airborne landing system 100 may also include three or more pairs of multi-rotor drones 130. Moreover, the multi-rotor unmanned aerial vehicle 130 may be connected to other positions of the lifting platform, on this basis, the arrangement form of the multi-rotor unmanned aerial vehicle 130 is not limited to the paired arrangement, but may adopt other arrangement forms such as the encircling arrangement, and the number of the multi-rotor unmanned aerial vehicle 130 may be less than four or more than four, specifically may be flexibly selected according to the size and weight of the conveyor belt 120 and the weight of the fixed-wing unmanned aerial vehicle 200 landing on the lifting platform 110, and the number of the multi-rotor unmanned aerial vehicles may be appropriately increased to improve the mounting capability.
Optionally, in this embodiment, a DPS positioning module may be disposed on the landing platform 110, and the GPS positioning module may be used to send the position information of the landing platform 110 to the fixed-wing drone 200. Through the design, when the fixed-wing unmanned aerial vehicle 200 needs to land on the aerial landing system 100, the real-time position of the aerial landing system 100 can be accurately identified according to the position information sent by the DPS positioning module, so that the fixed-wing unmanned aerial vehicle 200 can conveniently select a flight path and adjust a flight attitude so as to land on the aerial landing system 100 more accurately and safely.
Specifically, as shown in fig. 1 and 2, in the present embodiment, the conveyor belt 120 may be wound around the top surface and the bottom surface of the landing platform 110, so that the conveyor belt 120 located on the top surface of the landing platform 110 serves as a landing runway of the fixed wing unmanned aerial vehicle 200. In some embodiments, the conveyor belt 120 may be disposed only on the top surface of the landing platform 110, for example, but not limited to, the conveyor belt 120 may be wound around the support frame, and the support frame may be disposed on the landing platform 110.
Alternatively, as shown in fig. 1 and 2, in the present embodiment, the multi-rotor unmanned aerial vehicle 130 may be connected to the landing platform 110 through a connection structure. Wherein the connection structure may be a cable 150. In some embodiments, the multi-rotor unmanned aerial vehicle 130 may be connected to the landing platform 110 through other connection structures, such as a chain, or the multi-rotor unmanned aerial vehicle 130 may be directly disposed on the landing platform 110, which is not limited thereto.
It should be noted herein that the air landing systems shown in the drawings and described in this specification are only a few examples of the wide variety of air landing systems that can employ the principles of the present invention. It should be clearly understood that the principles of the present invention are in no way limited to any details or any components of the air lift system shown in the drawings or described in this specification.
Based on the above detailed description of the exemplary embodiment of the airborne landing system 100 proposed by the present invention, an exemplary embodiment of the airborne landing method proposed by the present invention will be described below.
Referring to fig. 3, a schematic flow chart of the airborne landing method according to the present invention is representatively illustrated. In this exemplary embodiment, the airborne landing method proposed by the present invention is described by taking the application to the fixed-wing unmanned aerial vehicle 200 as an example. Those skilled in the art will readily appreciate that many modifications, additions, substitutions, deletions, or other changes may be made to the specific embodiments described below in order to adapt the relevant designs of the present invention for use in other types of applications while remaining within the principles of the air lift method presented herein.
As shown in fig. 3, in this embodiment, the airborne landing method proposed by the present invention includes:
step S1: providing the airborne landing system 100 proposed by the present invention and in the above-described embodiments;
step S2: controlling the conveyor belt 120 to drive in a direction opposite to the flight direction of the fixed wing unmanned aerial vehicle 200 so as to enable the fixed wing unmanned aerial vehicle 200 to land on the conveyor belt 120;
step S3: the multi-rotor unmanned aerial vehicle 130 is controlled to drive the take-off and landing platform 110 to fly along the same direction as the take-off direction of the fixed-wing unmanned aerial vehicle 200, so that the fixed-wing unmanned aerial vehicle 200 takes off.
In this embodiment, as shown in fig. 1, the transmission speed V1 of the conveyor belt 120 may be slightly smaller than the landing speed V0 of the fixed wing unmanned aerial vehicle 200. The landing speed V0 of the fixed wing unmanned aerial vehicle 200 may be understood as the speed of the fixed wing aircraft relative to the landing platform 110 when the fixed wing aircraft just contacts the conveyor belt 120, at this time, the transmission speed of the conveyor belt 120 driven in the opposite direction is smaller than the landing speed V0, so that the fixed wing aircraft can continue to move forward relative to the landing platform to make itself fall into the range of the landing platform, and in this process, the fixed wing aircraft actually travels a longer deceleration distance due to the transmission of the conveyor belt 120, but has a smaller moving distance relative to the landing platform, thereby finally realizing the landing of the fixed wing unmanned aerial vehicle 200.
In this embodiment, for step S2, when the fixed-wing unmanned aerial vehicle 200 needs to land, the multi-rotor unmanned aerial vehicle 130 can be controlled to drive the landing platform 110 to fly to a designated position, and wait for the fixed-wing unmanned aerial vehicle 200 to land at the designated position.
In this embodiment, for step S3, when the fixed-wing unmanned aerial vehicle 200 needs to land, the multi-rotor unmanned aerial vehicle 130 can be controlled to drive the landing platform 110 with the fixed-wing unmanned aerial vehicle 200 parked to fly to a designated position, and then the fixed-wing unmanned aerial vehicle 200 is provided to take off at the designated position.
In this embodiment, as shown in fig. 2, the flying speed V2 of the multi-rotor unmanned aerial vehicle 130 driving the take-off and landing platform 110 may be equal to the take-off speed of the fixed-wing unmanned aerial vehicle 200. The take-off speed of the fixed-wing unmanned aerial vehicle 200 is the speed at which the fixed-wing unmanned aerial vehicle 200 is lifted off the lifting platform by the lift force of the air on the wings of the fixed-wing unmanned aerial vehicle 200. In some embodiments, the flying speed V2 of the multi-rotor unmanned aerial vehicle 130 driving the take-off and landing platform 110 may also be greater than or less than the taking-off speed of the fixed-wing unmanned aerial vehicle 200, and when the flying speed V2 of the multi-rotor unmanned aerial vehicle 130 driving the take-off and landing platform 110 is less than the taking-off speed of the fixed-wing unmanned aerial vehicle 200, the relative speed between the wings and the air of the multi-rotor unmanned aerial vehicle 130 can be increased by moving the fixed-wing unmanned aerial vehicle 200 forward while the multi-rotor unmanned aerial vehicle 130 driving the take-off and landing platform 110 to fly, so as to realize the taking-off speed.
In this embodiment, the air landing method provided by the present invention may further include the following steps: in the process of the landing of the fixed wing unmanned aerial vehicle 200, position information of the fixed wing unmanned aerial vehicle 200 is collected, and when the distance between the fixed wing unmanned aerial vehicle 200 and the lifting platform in the flight direction of the fixed wing aircraft is smaller than a preset distance, the transmission operation of the conveyor belt 120 is controlled. In some embodiments, the fixed wing unmanned aerial vehicle 200 may control the conveyor belt 120 to start driving when contacting the conveyor belt 120, and on this basis, a detection device such as a pressure sensor may be disposed on the conveyor belt 120, which is not limited thereto.
In this embodiment, the air landing method provided by the present invention may further include the following steps: in the takeoff process of the fixed wing unmanned aerial vehicle 200, position information of the fixed wing unmanned aerial vehicle 200 is collected, and when the fixed wing unmanned aerial vehicle 200 and the lifting platform are greater than a preset distance in the height direction, the multi-rotor unmanned aerial vehicle 130 is controlled to hover or fly away.
It should be noted herein that the air-lift method shown in the drawings and described in this specification is merely a few examples of the wide variety of air-lift methods that can employ the principles of the present invention. It should be clearly understood that the principles of the present invention are in no way limited to any details or any steps of the airborne landing method shown in the drawings or described in this specification.
In summary, the airborne landing system 100 according to the present invention includes a landing platform 110, a multi-rotor unmanned aerial vehicle 130, and a control unit. The landing platform 110 is provided with a conveyor belt 120. The multi-rotor drone 130 is coupled to the landing platform 110. The control unit is used for collecting the position information of the fixed-wing unmanned aerial vehicle 200, and controlling the conveyor belt 120 and the multi-rotor unmanned aerial vehicle 130 according to the position information. Through the design, the fixed wing unmanned aerial vehicle 200 can be driven to work in the direction opposite to the flight direction of the fixed wing unmanned aerial vehicle 200 by controlling the conveyor belt 120, and the fixed wing unmanned aerial vehicle 200 can take off by controlling the multi-rotor unmanned aerial vehicle 130 to drive the take-off and landing platform 110 to fly in the same direction as the take-off direction of the fixed wing unmanned aerial vehicle 200. Accordingly, the invention can realize the aerial take-off and landing of the fixed wing unmanned aerial vehicle 200, has lower failure probability, is not easy to damage the fixed wing unmanned aerial vehicle 200, does not occupy the ground, and can realize flexible transition.
Exemplary embodiments of the airborne landing system and the airborne landing method proposed by the present invention are described and/or illustrated in detail above. Embodiments of the invention are not limited to the specific embodiments described herein, but rather, components and/or steps of each embodiment may be utilized independently and separately from other components and/or steps described herein. Each component and/or each step of one embodiment may also be used in combination with other components and/or steps of other embodiments. When introducing elements/components/etc. that are described and/or illustrated herein, the terms "a," "an," and "the" are intended to mean that there are one or more of the elements/components/etc. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements/components/etc., in addition to the listed elements/components/etc. Furthermore, the terms "first" and "second" and the like in the claims and in the description are used for descriptive purposes only and not for numerical limitation of their subject matter.
While the invention has been described in terms of various specific embodiments, those skilled in the art will recognize that the invention can be practiced with modification within the spirit and scope of the claims.
Claims (8)
1. An airborne landing system for effecting airborne landing of a fixed-wing unmanned aerial vehicle, the airborne landing system comprising:
the landing platform is provided with a conveyor belt, and the conveyor belt is used as a landing runway of the fixed wing unmanned aerial vehicle; and
the multi-rotor unmanned aerial vehicle is connected to the landing platform;
the control unit is respectively connected with the conveyor belt and the multi-rotor unmanned aerial vehicle, and is used for collecting position information of the fixed-wing unmanned aerial vehicle and controlling the conveyor belt and the multi-rotor unmanned aerial vehicle according to the position information;
wherein the over-the-air landing system is configured to: the fixed wing unmanned aerial vehicle is controlled to drive to work in the direction opposite to the flight direction of the fixed wing unmanned aerial vehicle so as to land, and the multi-rotor unmanned aerial vehicle is controlled to drive the take-off and landing platform to fly in the same direction as the take-off direction of the fixed wing unmanned aerial vehicle so as to take off the fixed wing unmanned aerial vehicle;
the lifting platform is provided with a plurality of driving rollers through a plurality of fixed shafts respectively, the aerial lifting system comprises a plurality of pairs of multi-rotor unmanned aerial vehicle, the multi-pairs of multi-rotor unmanned aerial vehicle respectively correspond to the plurality of driving rollers, and two multi-rotor unmanned aerial vehicle with the pair are respectively connected to the two ends of the corresponding fixed shafts, and the conveyer belt is wound on the plurality of driving rollers and is located on the top surface and the bottom surface of the lifting platform, so that the conveyer belt on the top surface of the lifting platform is used as a lifting runway of the fixed-wing unmanned aerial vehicle.
2. The airborne landing system of claim 1, wherein said landing platform is provided with a DPS positioning module for transmitting position information of said landing platform to a fixed-wing drone.
3. The aerial lift system of claim 1, wherein the multi-rotor drone is connected to the lift platform by a connection structure.
4. An airborne landing method for airborne landing of a fixed-wing unmanned aerial vehicle, the airborne landing method comprising:
providing an airborne landing system according to any one of claims 1 to 3;
controlling the conveyor belt to drive in a direction opposite to the flight direction of the fixed wing unmanned aerial vehicle so as to enable the fixed wing unmanned aerial vehicle to land on the conveyor belt;
and controlling the multi-rotor unmanned aerial vehicle to drive the take-off and landing platform to fly along the same direction as the take-off direction of the fixed-wing unmanned aerial vehicle so as to enable the fixed-wing unmanned aerial vehicle to take off.
5. The airborne landing method of claim 4, wherein a transmission speed of said conveyor belt is less than a landing speed of a fixed wing drone.
6. The aerial lift method of claim 4, wherein the multi-rotor unmanned aerial vehicle drives the lift platform at a flight speed greater than or equal to a takeoff speed of a fixed wing unmanned aerial vehicle.
7. The method for taking off and landing in air according to claim 4, wherein position information of the fixed wing unmanned aerial vehicle is collected during the landing process of the fixed wing unmanned aerial vehicle, and when the distance between the fixed wing unmanned aerial vehicle and the lifting platform in the flight direction of the fixed wing aircraft is smaller than a preset distance, the transmission operation of the conveyor belt is controlled.
8. The aerial lift method of claim 4 wherein the position information of the fixed wing unmanned aerial vehicle is collected during the take-off process of the fixed wing unmanned aerial vehicle, and when the fixed wing unmanned aerial vehicle is greater than a preset distance from the lifting platform in the height direction, the multi-rotor unmanned aerial vehicle is controlled to hover or fly away.
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| US8191828B2 (en) * | 2008-05-13 | 2012-06-05 | The Boeing Company | Methods and apparatus for aerial recovery of flying apparatus |
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| CN106043689A (en) * | 2016-07-22 | 2016-10-26 | 绵阳空天科技有限公司 | Vertical take-off auxiliary system for top-mounted fixed-wing aircraft |
| CN106741954A (en) * | 2017-03-10 | 2017-05-31 | 佛山市神风航空科技有限公司 | The landing-gear and its mode of a kind of aircraft |
| CN108820221A (en) * | 2018-08-16 | 2018-11-16 | 上海重塑能源科技有限公司 | Take-off system |
| CN111240348A (en) * | 2020-01-22 | 2020-06-05 | 西安爱生无人机技术有限公司 | Unmanned aerial vehicle landing control method based on motion base, computer readable storage medium and control equipment |
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