Landing platform for combined operation of unmanned ship and unmanned aerial vehicle

Abstract

The invention belongs to the technical field of landing platforms, and particularly relates to an unmanned ship and unmanned aerial vehicle combined operation landing platform which comprises an unmanned ship, a supporting plate is fixedly installed on the top of the unmanned ship, a bottom platform is fixedly installed on the supporting plate, and a bottom platform attitude sensor is arranged on the bottom platform. A bottom platform attitude sensor is installed on the landing platform, a bottom rotary connecting structure is arranged on the bottom platform attitude sensor, a servo motor hydraulic rod is connected to the bottom rotary connecting structure, a top rotary connecting structure is connected to the servo motor hydraulic rod, and an attitude sensor on the landing platform is installed on the top rotary connecting structure. The six-degree-of-freedom forced movement, generated by environmental factors, of the planned landing object of the unmanned aerial vehicle in the water environment can be counteracted through the attitude sensor and the unmanned aerial vehicle landing platform, so that a stable landing condition is provided, and the stable landing platform can provide a good marker recognition condition for the unmanned aerial vehicle; and interference factors of landing of the unmanned aerial vehicle in the water environment are optimized and reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of landing platforms, and specifically relates to a landing platform for the collaborative operation of an unmanned boat and an unmanned aerial vehicle. Background Art

[0002] The traditional method for an unmanned aerial vehicle to land is to set obvious markers on the landing platform. The unmanned aerial vehicle is equipped with a visible light or infrared module, and precise landing is achieved by identifying the markers on the platform through computer recognition technology.

[0003] In current unmanned aerial vehicle landing solutions, the focus is mainly on the attitude problem of the unmanned aerial vehicle, aiming to solve the landing problem from the aspect of the unmanned aerial vehicle's maneuverability. However, in a water environment, the influence of environmental factors such as wind, waves, and currents on water platforms such as unmanned boats cannot be ignored. The factors that need to be considered for the movement of the platform itself are that during the movement of the platform, the difficulty of identifying the markers is greatly increased. Currently, there is little research on the water takeoff and landing platform for the cooperation of unmanned aerial vehicles and unmanned boats.

[0004] A Chinese patent with the publication number CN108263633A discloses a self-stabilizing landing platform and a method for maintaining the attitude of the landing plane. By setting up a self-stabilizing landing platform, the first robotic arm, the second robotic arm, and the third robotic arm are automatically controlled to extend and retract according to the required lengths, so that the roll and pitch values of the first support part relative to the earth coordinate system are continuously corrected, making the roll and pitch values of the first support part relative to the earth coordinate system equal to the expected roll and pitch values of the first support part relative to the earth coordinate system, so that when the unmanned aerial vehicle lands, it reaches the expected attitude value of the required first support part, and the landing plane of the unmanned aerial vehicle always remains horizontal with the earth coordinate system to ensure that the unmanned aerial vehicle can land smoothly on the moving carrier.

[0005] 1. The existing solution uses a three-degree-of-freedom motion platform, which can only achieve three degrees of freedom, namely the simulation of yaw, pitch, and roll three-axis rotation. However, the six-degree-of-freedom platform in this solution can achieve the simulation of yaw, pitch, roll, front / back, up / down, and left / right six degrees of freedom, and can compensate for the three-axis linear motion of the carrying platform.

[0006] 2. The existing solution uses inertial navigation equipment, while this solution uses attitude sensors. The cost of inertial navigation components is much higher than that of attitude sensors, and the precision is relatively high. On an ocean motion platform with frequent attitude changes, it is difficult to guarantee the accuracy.

[0007] 3. The motion compensation calculation method of the existing solution is too complex. Kalman filtering is mainly used to predict the motion attitude, and no significant effect is described. This solution uses the PID algorithm to further achieve the closed-loop control of the motion attitude of the target landing platform and the attitude of the servo motor, which is simple, effective, and has stronger real-time performance.

[0008] To this end, the present invention provides a landing platform for the cooperative operation of an unmanned ship and an unmanned aerial vehicle. Summary of the Invention

[0009] In order to make up for the deficiencies of the prior art and solve the technical problems proposed in the above background art, the present invention proposes a landing platform for the cooperative operation of an unmanned ship and an unmanned aerial vehicle.

[0010] The technical solution adopted by the present invention to solve its technical problems is as follows: A landing platform for the cooperative operation of an unmanned ship and an unmanned aerial vehicle according to the present invention includes an unmanned ship. A support plate is fixedly installed on the top of the unmanned ship. A bottom platform is fixedly installed on the support plate. A bottom platform attitude sensor is arranged on the bottom platform. A bottom rotational connection structure is arranged on the bottom platform attitude sensor. A servo motor hydraulic rod is connected to the bottom rotational connection structure. A top rotational connection structure is connected to the servo motor hydraulic rod. An attitude sensor on the landing platform is installed on the top rotational connection structure. A landing platform is installed on the attitude sensor on the landing platform. An unmanned aerial vehicle is arranged on the top of the landing platform.

[0011] The beneficial effects of the present invention are as follows: Through the attitude sensor and the present invention, the six-degree-of-freedom forced motion generated by the environmental factors on the object planned to land by the unmanned aerial vehicle in the water environment can be offset to provide a stable landing condition. The stable landing platform can provide good marker recognition conditions for the unmanned aerial vehicle, optimize and reduce the interference factors for the unmanned aerial vehicle to land in the water environment, and improve the efficiency and speed of the unmanned aerial vehicle to land in the water environment. Among them, the pose closed-loop control composed of the shipborne attitude sensor and the attitude sensor of the landing platform can, through simple signal perception and high-efficiency PID control algorithm, ensure that the movement of the landing platform is adjusted in real time within the effective change range to avoid affecting the landing of the unmanned aerial vehicle. Brief Description of the Drawings

[0012] The present invention will be further described below with reference to the accompanying drawings.

[0013] Figure 1 is a three-dimensional view of the landing platform for the cooperative operation of the unmanned ship and the unmanned aerial vehicle of the present invention; Figure 2 is a structural schematic diagram of the top rotational connection structure in the present invention; Figure 3 is a schematic diagram of the six-degree-of-freedom motion platform control loop in the present invention; Figure 4 is a flow chart of the control system algorithm in the present invention.

[0014] In the figure: 1, landing platform; 2, attitude sensor on the landing platform; 3, top rotating connection structure; 4, servo motor hydraulic rod; 5, bottom rotating connection structure; 6, bottom platform; 7, bottom platform attitude sensor; 8, unmanned ship; 9, support plate; 10, unmanned aerial vehicle. Specific implementation manner

[0015] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific implementation manners.

[0016] As Figures 1 to 4 shown, a landing platform for the cooperative operation of an unmanned ship and an unmanned aerial vehicle according to an embodiment of the present invention includes an unmanned ship 8. A support plate 9 is fixedly installed on the top of the unmanned ship 8. A bottom platform 6 is fixedly installed on the support plate 9. A bottom platform attitude sensor 7 is arranged on the bottom platform 6. A bottom rotating connection structure 5 is arranged on the bottom platform attitude sensor 7. A servo motor hydraulic rod 4 is connected to the bottom rotating connection structure 5. A top rotating connection structure 3 is connected to the servo motor hydraulic rod 4. An attitude sensor on the landing platform 2 is installed on the top rotating connection structure 3. A landing platform 1 is installed on the attitude sensor on the landing platform 2. An unmanned aerial vehicle 10 is arranged on the top of the landing platform 1. The present invention mainly consists of two sets of attitude sensors, an attitude closed-loop control module, a six-degree-of-freedom motion platform and its motion controller.

[0017] The six-degree-of-freedom attitude sensor is installed on the target landing object to monitor the attitude change of the object. After the attitude change data is collected, it is converted into the output parameters of each servo motor of the six-degree-of-freedom motion platform through calculation by the control module.

[0018] First, the landing request of the unmanned aerial vehicle is obtained through the communication between the unmanned ship 8 and the unmanned aerial vehicle 10, and the adaptive landing system is started.

[0019] The attitude sensor obtains the attitude motion information of the ship and transmits it to the control module. The control module calculates the opposite motion trend according to the real-time attitude information and transmits it to the six-degree-of-freedom motion platform controller. The controller calculates the expected telescopic lengths of the six servo motors to realize the stability control of the unmanned aerial vehicle landing platform. At the same time, an attitude sensor is installed at the bottom of the landing platform to detect the actual sloshing amplitude of the landing platform after adjustment. If it does not meet the landing conditions of the unmanned aerial vehicle, the platform motion information is fed back to the control module for auxiliary calculation and control. The attitude sensor can return the three-axis angle and the three-axis acceleration. On the one hand, the control module calculates the opposite motion trend according to the current angle, and on the other hand, further predicts the future attitude information according to the acceleration information to achieve a better stability effect.

[0020] Please refer to Figure 2, 3-1 is the first rotating member, which is directly fixedly connected to the landing platform and can rotate with a single degree of freedom relative to the transfer member. 3-2 is the first rotating pin, which connects the first rotating member and the transfer member. 3-4 is the transfer member. 3-3 is the second rotating pin, which connects the second rotating member and the transfer member. 3-8 is the second rotating member, which is directly fixedly connected to the servo motor and can rotate with a single degree of freedom relative to the transfer member.

[0021] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A landing platform for the joint operation of an unmanned ship and an unmanned aerial vehicle, characterized in that: The unmanned boat (8) comprises an unmanned boat (8), the top of which is fixedly mounted a support plate (9), the support plate (9) having a bottom platform (6) fixedly mounted thereon, the bottom platform (6) being provided with a bottom platform attitude sensor (7), the bottom platform attitude sensor (7) being provided with a bottom rotating connection structure (5), the bottom rotating connection structure (5) being connected to a servo motor hydraulic rod (4), the servo motor hydraulic rod (4) being connected to a top rotating connection structure (3), the top rotating connection structure (3) being provided with an attitude sensor (2) on a landing platform, the attitude sensor (2) on the landing platform being provided with a landing platform (1), and the top of the landing platform (1) being provided with an unmanned aerial vehicle (10).

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