Take-off and landing system for ship-borne composite wing unmanned aerial vehicle

Abstract

A compensation platform of the take-off and landing system comprises a supporting frame, a bottom plate and a telescopic supporting shaft, the upper end of the telescopic supporting shaft is hinged to the supporting frame through an upper hinge joint, and the lower end of the telescopic supporting shaft is hinged to the bottom plate through a lower hinge joint. The clamping mechanism comprises a clamping frame, a first belt moving mechanism and a second belt moving mechanism, the clamping frame is fixedly arranged on the supporting frame, the first belt moving mechanism is arranged at one end of the clamping frame, the second belt moving mechanism is arranged at the other end of the clamping frame, the first belt moving mechanism is provided with a rotatable first clamping belt, and the second belt moving mechanism is provided with a rotatable second clamping belt. The first belt moving mechanism is provided with a rotatable first clamping belt, the first clamping belt is provided with a first clamping deflector rod, the second belt moving mechanism is provided with a rotatable second clamping belt, and the second clamping belt is provided with a second clamping deflector rod. According to the utility model, the influence of regular reciprocating harmonic motion of the deck caused by sea waves on the take-off and landing of the unmanned aerial vehicle can be blocked, and the dependence on a complex flight control system and a high-precision sensor is reduced.

Description

Technical Field

[0001] The utility model relates to the field of compound-wing unmanned aerial vehicles, and particularly to a take-off and landing system for shipborne compound-wing unmanned aerial vehicles. Background Art

[0002] With the development of technology, compound-wing unmanned aerial vehicles are increasingly widely used in the shipborne field. The compound-wing unmanned aerial vehicle combines the high-efficiency cruising ability of a fixed-wing unmanned aerial vehicle and the vertical take-off and landing ability of a multi-rotor unmanned aerial vehicle, which gives it significant advantages in the shipborne environment. However, the compound-wing unmanned aerial vehicle also faces many problems in shipborne take-off and landing. The most prominent problem is the shaking of the ship's deck, which will bring great instability factors to the take-off and landing of the unmanned aerial vehicle.

[0003] The existing ways to solve the above problems mainly include the following two: One is to improve the flight control system of the unmanned aerial vehicle. It uses sensors and other devices to sense the shaking of the deck in real time and makes corresponding adjustments to the flight attitude of the unmanned aerial vehicle. The other way is to install special take-off and landing platforms on the ship, such as platforms with anti-rolling devices, etc., to reduce the impact of deck shaking on the take-off and landing of the unmanned aerial vehicle, thereby improving the stability of take-off and landing. However, in order to ensure the success rate and stability of shipborne take-off and landing of the unmanned aerial vehicle, the above methods have problems such as a complex flight control system and high requirements for the accuracy of relevant detection components, and may not be able to fully and effectively cope with large-amplitude deck shaking in severe sea conditions. In addition, due to the structural characteristics of the compound-wing unmanned aerial vehicle, its endurance and power redundancy in the multi-rotor state are very limited. Therefore, it is also very difficult to achieve the purpose of rapid shipborne take-off and landing only by adjusting the unmanned aerial vehicle through the flight controller.

[0004] A patent with the publication number CN111596687A discloses a landing guidance device and its guidance method for a vertical take-off and landing unmanned aerial vehicle mobile platform. The device includes a stable platform carried on the ship's deck, and a target is provided on the upper platform of the stable platform. When the device works, the unmanned aerial vehicle first autonomously follows the movement of the deck and gradually approaches the landing point until it reaches above the target. Then, the unmanned aerial vehicle gradually reduces its height close to the landing point through dynamic differential relative positioning technology until the deck reaches near the visual capture point of the unmanned aerial vehicle. Then, the unmanned aerial vehicle introduces visual navigation, and when landing, the deck also needs to automatically adjust the inclination angle to offset the deck attitude movement. This method requires the unmanned aerial vehicle to be equipped with modules such as a differential module, an inertial navigation module, and an inertial navigation / GPS integrated navigation system. The entire flight control system is relatively complex, and its stable platform needs to be configured with acquisition sensors to collect the attitude change data of the platform in real time for control, which requires ensuring the detection accuracy of the acquisition sensors. In addition, the device only uses three support rods to achieve leveling, and the upper and lower ends of the support rods are hinged through conventional Hooke hinges. This support structure and strength cannot meet the use requirements of large-amplitude swinging of the deck in severe sea conditions and other situations.

[0005] The patent with the publication number CN115675900A discloses a mobile shipborne vertical take-off and landing UAV automatic leveling platform and a leveling method. Four inclination sensors are installed at the four corners of the support plane. An electronic control component is arranged inside the base to receive the plane inclination information transmitted by the inclination sensors and the hull vibration information detected by the gyroscope, and then calculates the telescopic lengths of the four hydraulic support legs and controls the hydraulic cylinders to act to achieve sway compensation. However, this device also needs to ensure the detection accuracy of detection components such as inclination sensors, and once encountering bad sea conditions, this platform cannot meet the usage requirements of large-amplitude swing of the deck. Summary of the Invention

[0006] The purpose of the present invention is to provide a take-off and landing system for shipborne compound-wing UAVs, which can block the influence of the regular reciprocating harmonic motion generated by the deck due to the influence of waves on the take-off and landing of UAVs, and reduces the dependence on the complex flight control system and high-precision sensors of UAVs.

[0007] The purpose of the present invention is achieved through the following technical solutions:

[0008] A take-off and landing system for shipborne compound-wing UAVs includes a clamping mechanism and a compensation platform. The compensation platform includes a support frame, a bottom plate and a telescopic support shaft. The upper end of the telescopic support shaft is hinged to the support frame through an upper hinge joint, and the lower end is hinged to the bottom plate through a lower hinge joint. The clamping mechanism includes a clamping frame, a first belt moving mechanism and a second belt moving mechanism. The clamping frame is fixedly arranged on the support frame. The first belt moving mechanism is arranged at one end of the clamping frame, and the second belt moving mechanism is arranged at the other end of the clamping frame. The first belt moving mechanism is provided with a rotatable first clamping belt, and a first clamping lever is arranged on the first clamping belt. The second belt moving mechanism is provided with a rotatable second clamping belt, and a second clamping lever is arranged on the second clamping belt.

[0009] The telescopic support shaft includes a telescopic driving motor, a telescopic rod, an outer cylinder body and a support shaft base. The lower end of the outer cylinder body and the telescopic driving motor are both arranged on the support shaft base. The telescopic rod is inserted into the outer cylinder body and is driven to expand and contract by the telescopic driving motor. The upper end of the telescopic rod is hinged to the support frame through an upper hinge joint, and the lower side of the support shaft base is hinged to the bottom plate through a lower hinge joint.

[0010] The upper hinge joint and the lower hinge joint have the same structure, and both include an upper connecting disc, a middle joint ring, a lower connecting disc, a first angled spring plate and a second angled spring plate. Wherein, a first connecting column is provided on the lower side of the upper connecting disc, a second connecting column is provided on the upper side of the lower connecting disc, a connecting folding ear is provided on the middle joint ring, and a first folding ear connecting hole arranged obliquely upward is provided on one side of the connecting folding ear, and a second folding ear connecting hole arranged obliquely downward is provided on the other side. The adjacent first angled spring plates and second angled spring plates are arranged staggeredly. One end of the first angled spring plate is fixed at the first folding ear connecting hole on the corresponding connecting folding ear, and the other end is connected to the corresponding second connecting column on the lower side. One end of the second angled spring plate is fixed at the second folding ear connecting hole on the corresponding connecting folding ear, and the other end is connected to the corresponding first connecting column on the upper side. The extended lines of the angles of each first angled spring plate and the extended lines of the angles of each second angled spring plate intersect at the joint rotation point.

[0011] The first belt moving mechanism includes a first sliding seat and a second sliding seat. Wherein, a first lead screw driven to rotate by a first reduction motor is provided on one side of the a end of the clamping frame, and the first sliding seat is sleeved on the first lead screw. A second lead screw driven to rotate by a second reduction motor is provided on the other side of the a end of the clamping frame, and the second sliding seat is sleeved on the second lead screw. First belt pulleys are provided on both the first sliding seat and the second sliding seat. The first clamping belt bypasses each first belt pulley, and a first belt motor is provided on the first sliding seat and connected to the corresponding first belt pulley.

[0012] The second belt moving mechanism includes a third sliding seat and a fourth sliding seat. Wherein, a third lead screw driven to rotate by a third reduction motor is provided on one side of the b end of the clamping frame, and the third sliding seat is sleeved on the third lead screw. A fourth lead screw driven to rotate by a fourth reduction motor is provided on the other side of the b end of the clamping frame, and the fourth sliding seat is sleeved on the fourth lead screw. Second belt pulleys are provided on both the third sliding seat and the fourth sliding seat. The second clamping belt bypasses each second belt pulley, and a second belt motor is provided on the third sliding seat and connected to the corresponding second belt pulley.

[0013] Mounting columns are provided at each corner end of the support frame, and the two side beam ends of the clamping frame are respectively fixed to the corresponding mounting columns through fixed connecting pieces. A first slide rail is provided on one side of the clamping frame, and a second slide rail is provided on the other side. A first slider provided on the lower side of the first sliding seat and a third slider provided on the lower side of the third sliding seat are matched with the first slide rail. A second slider provided on the lower side of the second sliding seat and a fourth slider provided on the lower side of the fourth sliding seat are matched with the second slide rail.

[0014] The advantages and positive effects of the present utility model are:

[0015] 1. The utility model can meet the compensation requirements under the condition of large amplitude and high frequency rocking of the deck in complex sea conditions (sea state 4 and below), thereby blocking the influence of the regular reciprocating harmonic motion of the deck caused by the waves on the take-off and landing of the UAV. The upper hinge joint and the lower hinge joint of the utility model do not adopt the conventional universal hinge structure, but adopt the hinge joint with a folding spring plate to realize the connection of the telescopic support shaft. This hinge joint can provide a large angle rotation of 50° and a torsion of 20°, and has strong support stiffness. At the same time, the installation space required is shorter and smaller, so it is very suitable for use on large swing platforms. At the same time, due to its certain torsion angle space, it can reduce the torque generated by the telescopic support shaft due to mechanical errors, thereby improving the service life of the equipment.

[0016] 2. The compensation platform of the utility model is supported by six telescopic support shafts, and a deck motion prediction algorithm based on the fast Fourier transform is designed. At the same time, combined with PID control, the real-time and rapid telescopic control of the six telescopic support shafts is realized, thereby achieving the purpose of rapid, large-load and multi-dimensional motion of the upper support frame of the compensation platform, so as to be able to quickly and stably compensate the deck motion, suppress vibration, and also reduce the dependence on the complex flight control system and high-precision sensors of the UAV.

[0017] 3. The double-belt clamping mechanism on the upper side of the compensation platform of the utility model can ensure the fixing and centering functions before and after the take-off and landing of the UAV, and can further ensure the firm fixing of the UAV. And the clamping force of the clamping mechanism is controllable, which will not damage the UAV while ensuring the firm clamping of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is the overall schematic diagram of the utility model,

[0019] Figure 2 is Figure 1 the structural schematic diagram of the middle support table surface,

[0020] Figure 3 is Figure 1 the structural schematic diagram of the utility model after removing the support table surface,

[0021] Figure 4 is Figure 1 the structural schematic diagram of the compensation platform in

[0022] Figure 5 is Figure 1 the enlarged schematic diagram of the upper hinge joint at A in

[0023] Figure 6 is Figure 5 the structural schematic diagram of the upper hinge joint from another angle in

[0024] Figure 7 Schematic diagram of the disassembly of the upper connecting plate, the middle ring of the joint and the lower connecting plate, Figure 6

[0025] Figure 8 Enlarged schematic diagram at position B in Figure 1

[0026] Figure 9 Schematic diagram of the structure of the clamping mechanism in Figure 1

[0027] Figure 10 Enlarged schematic diagram at position C in Figure 9

[0028] Figure 11 Schematic diagram of the structure of the first sliding seat in Figure 9

[0029] Figure 12 Schematic diagram of the structure of the second sliding seat in Figure 9

[0030] Figure 13 Schematic diagram of the structure of the first clamping lever and the second clamping lever in Figure 9

[0031] Figure 14 Schematic diagram of the working state of the clamping mechanism in Figure 9

[0032] ​​​​​​​​Among them, 1 is a clamping mechanism, 101 is a first reduction motor, 102 is a first lead screw, 103 is a first sliding seat, 1031 is a first slider, 104 is a first clamping belt, 105 is a first belt motor, 106 is a second sliding seat, 1061 is a second slider, 107 is a second lead screw, 108 is a second reduction motor, 109 is a first pulley, 110 is a second slide rail, 111 is a third reduction motor, 112 is a third lead screw, 113 is a third sliding seat, 114 is a second clamping belt, 115 is a second belt motor, 116 is a fourth sliding seat, 117 is a fourth lead screw, 118 is a fourth reduction motor, 119 is a second pulley, 120 is a first slide rail, 121 is a second clamping lever, 1211 is a first clamping plate, 1212 is a second clamping plate, 1213 is a lever shaft, 1214 is a clamping plate screw, 122 is a clamping frame, 123 is a first clamping lever, 2 is a compensation platform, 201 is a support frame, 2011 is an upper hinge seat, 2012 is a mounting column, 2013 is a fixed connecting piece, 202 is a bottom plate, 2021 is a lower hinge seat, 203 is a telescopic support shaft, 2031 is a telescopic drive motor, 2032 is a telescopic rod, 2033 is a support shaft base, 2034 is an outer cylinder, 204 is a lower hinge joint, 205 is an upper hinge joint, 206 is a lower connecting plate, 2061 is a second connecting column, 207 is a joint middle ring, 2071 is a connecting ear, 2072 is a first ear connecting hole, 2073 is a second ear connecting hole, 208 is an upper connecting plate, 2081 is a first connecting column, 209 is a second angled spring plate, 210 is a first angled spring plate, 211 is a joint rotation point, 3 is a support tabletop, 301 is a table frame, 302 is a table board, 303 is a fixed seat. Detailed implementation mode

[0033] The present utility model will be further described in detail below with reference to the accompanying drawings.

[0034] As Figures 1 - 14 shown, the system of the present utility model includes a clamping mechanism 1 and a compensation platform 2. The compensation platform 2 includes a support frame 201, a bottom plate 202 and a telescopic support shaft 203. The upper end of the telescopic support shaft 203 is hinged to the support frame 201 through an upper hinge joint 205, and the lower end is hinged to the bottom plate 202 through a lower hinge joint 204. The clamping mechanism 1 includes a clamping frame 122, a first belt moving mechanism and a second belt moving mechanism. The clamping frame 122 is fixedly arranged on the support frame 201. The first belt moving mechanism is movably arranged at one end of the clamping frame 122, and the second belt moving mechanism is movably arranged at the other end of the clamping frame 122. As Figure 9As shown, the first belt moving mechanism is provided with a rotatable first clamping belt 104, and a first clamping lever 123 is provided on the first clamping belt 104. The second belt moving mechanism is provided with a rotatable second clamping belt 114, and a second clamping lever 121 is provided on the second clamping belt 114.

[0035] As Figure 3 shown, in this embodiment, the telescopic support shaft 203 includes a telescopic driving motor 2031, a telescopic rod 2032, an outer cylinder 2034, and a support shaft base 2033. The lower end of the outer cylinder 2034 and the telescopic driving motor 2031 are both provided on the support shaft base 2033. The telescopic rod 2032 is inserted into the outer cylinder 2034 and is driven to expand and contract by the telescopic driving motor 2031. In this embodiment, the lower part of the telescopic rod 2032 is a lead screw section. A transmission assembly is provided inside the support shaft base 2033. One end of the transmission assembly is installed on the power shaft of the telescopic driving motor 2031, and the other end is provided with a nut sleeve sleeved on the lead screw section. The transmission assembly can adopt structures such as gear transmission and belt transmission according to needs. The above is well-known technology in the art. For example, a lifting lead screw driving structure in patents such as CN215625098U and CN106241641B can be adopted.

[0036] As Figures 1 - 8 shown, in this embodiment, the upper end of the telescopic rod 2032 of the telescopic support shaft 203 is hinged to a corresponding upper hinge seat 2011 provided on the lower side of the support frame 201 through an upper hinge joint 205. The lower side of the support shaft base 2033 of the telescopic support shaft 203 is hinged to a corresponding lower hinge seat 2021 provided on the bottom plate 202 through a lower hinge joint 204. The upper hinge joint 205 and the lower hinge joint 204 of the present utility model do not adopt a conventional universal hinge structure because ordinary cross-axis universal joints etc. require a relatively high installation space, which is especially unfavorable for the platform stability when the deck swings greatly, and the angle and bearing capacity etc. need to be further improved.

[0037] As Figures 5 - 8 shown, the upper hinge joint 205 and the lower hinge joint 204 of the present utility model have the same structure, and both include an upper connection plate 208, a joint middle ring 207, a lower connection plate 206, a first folding angle spring plate 210, and a second folding angle spring plate 209. Among them, as Figure 7As shown in the figure, three first connecting columns 2081 are evenly distributed along the circumferential direction on the lower side of the upper connecting disk 208, three second connecting columns 2061 are evenly distributed along the circumferential direction on the upper side of the lower connecting disk 206, three connecting lugs 2071 are evenly distributed along the circumferential direction on the joint middle ring 207, and the concave angle of the lugs of the connecting lug 2071 is 90°. A first lug connecting hole 2072 arranged obliquely upward is provided on one side of the connecting lug 2071, and a second lug connecting hole 2073 arranged obliquely downward is provided on the other side. The folding angles of the first folding angle spring plate 210 and the second folding angle spring plate 209 are both 84°, and the adjacent first folding angle spring plate 210 and second folding angle spring plate 209 are arranged staggeredly. One end of the first folding angle spring plate 210 is fixed to the first lug connecting hole 2072 arranged obliquely upward on the corresponding connecting lug 2071 by a bolt, and the other end is connected to the corresponding second connecting column 2061 on the lower side by a bolt. One end of the second folding angle spring plate 209 is fixed to the second lug connecting hole 2073 arranged obliquely downward on the corresponding connecting lug 2071 by a bolt, and the other end is connected to the corresponding first connecting column 2081 on the upper side by a bolt. The first folding angle spring plate 210 and the second folding angle spring plate 209 are made by stamping and tempering of silicon manganese spring steel, which has a high elastic limit, and as Figure 6 shown, the extension lines of the folding angles of each first folding angle spring plate 210 and the extension lines of the folding angles of each second folding angle spring plate 209 intersect at the same point, and this point is the joint rotation point 211. This articulated joint can provide a large angle rotation of 50° and a torsion of 20°, and has a strong support stiffness. At the same time, the installation space it requires is shorter and smaller, which is very suitable for large swing tables. Moreover, because it has a certain torsion angle space, it can reduce the torque generated by the mechanical error of the telescopic support shaft 203, thereby improving the service life of the equipment.

[0038] As Figures 9 - 14 shown, in this embodiment, the first belt moving mechanism includes a first sliding seat 103 and a second sliding seat 106. A first lead screw 102 driven to rotate by a first reduction motor 101 is provided on one side of the a end of the clamping frame 122, and the first sliding seat 103 is sleeved on the first lead screw 102. A second lead screw 107 driven to rotate by a second reduction motor 108 is provided on the other side of the a end of the clamping frame 122, and the second sliding seat 106 is sleeved on the second lead screw 107. First belt pulleys 109 are provided on both the first sliding seat 103 and the second sliding seat 106. The first clamping belt 104 bypasses each first belt pulley 109, and a first belt motor 105 is provided on the first sliding seat 103 and connected to the corresponding first belt pulley 109. This first belt pulley 109 is the driving belt pulley to drive the first clamping belt 104 to rotate.

[0039] As Figures 9 - 14As shown in the figure, in this embodiment, the second belt moving mechanism includes a third sliding seat 113 and a fourth sliding seat 116. On one side of the b end of the clamping frame 122, there is a third lead screw 112 driven to rotate by a third reduction motor 111, and the third sliding seat 113 is sleeved on the third lead screw 112. On the other side of the b end of the clamping frame 122, there is a fourth lead screw 117 driven to rotate by a fourth reduction motor 118, and the fourth sliding seat 116 is sleeved on the fourth lead screw 117. Second pulleys 119 are provided on both the third sliding seat 113 and the fourth sliding seat 116. The second clamping belt 114 bypasses each second pulley 119, and a second belt motor 115 is provided on the third sliding seat 113 and connected to the corresponding second pulley 119. This second pulley 119 is the driving pulley to drive the second clamping belt 114 to rotate.

[0040] The clamping mechanism 1 is used to realize the fixing and centering functions before and after the takeoff and landing of the unmanned aerial vehicle. As Figure 14 shown, the first clamping belt 104 and the second clamping belt 114 are respectively driven by the corresponding sliding seats to move and approach to clamp the drone landing gear from left and right. Then, the first clamping belt 104 and the second clamping belt 114 respectively rotate to drive the first clamping lever 123 and the second clamping lever 121 to move to clamp the drone landing gear front and back, so as to completely fix the drone. Threaded nuts are provided on the first sliding seat 103, the second sliding seat 106, the third sliding seat 113 and the fourth sliding seat 116 and sleeved on the corresponding lead screws respectively to realize the movement. This is a well-known technology in the art.

[0041] As Figure 9 shown, in this embodiment, slide rails are provided on both sides of the clamping frame 122. As Figures 11 - 12 shown, sliders are provided on the lower sides of the first sliding seat 103, the second sliding seat 106, the third sliding seat 113 and the fourth sliding seat 116 and are respectively matched with the slide rails on the corresponding sides. A first slide rail 120 is provided on one side of the clamping frame 122, and a second slide rail 110 is provided on the other side. The first slider 1031 on the lower side of the first sliding seat 103 and the third slider on the lower side of the third sliding seat 113 are matched with the first slide rail 120. The second slider 1061 on the lower side of the second sliding seat 106 and the fourth slider on the lower side of the fourth sliding seat 116 are matched with the second slide rail 110.

[0042] As Figure 10 shown, in this embodiment, mounting columns 2012 are provided at the respective corner ends of the support frame 201, and the two side beam end parts of the clamping frame 122 in the left-right direction are respectively fixed to the corresponding mounting columns 2012 through fixed connecting pieces 2013. In this embodiment, the fixed connecting piece 2013 adopts a right-angle connecting seat.

[0043] As Figure 13As shown, in this embodiment, the first clamping lever 123 and the second clamping lever 121 have the same structure, and both include a first clamping plate 1211 and a second clamping plate 1212 respectively arranged on both sides of the corresponding clamping belt. The first clamping plate 1211 and the second clamping plate 1212 are fixedly connected by a clamping plate screw 1214, and a lever shaft 1213 is provided on the second clamping plate 1212 facing the inside.

[0044] As Figures 1 - 2 shown, at the position corresponding to the clamping mechanism 1 on the support frame 201, there is a support table surface 3, and the support table surface 3 includes a table frame 301, a table board 302 and a fixed seat 303. Among them, the table frame 301 is fixed on the support frame 201 through the fixed seat 303, and the table board 302 is fixed on the table frame 301 by bolts. In this embodiment, the fixed seat 303 is a right-angle connecting seat, and the table board 302 is made of aluminum plastic board, which is both light and thin and can bear the composite wing unmanned aerial vehicle.

[0045] The working principle of the present utility model is as follows:

[0046] The control of the present utility model includes two parts. One is the control of the compensation platform 2, and the other is the control of the clamping mechanism 1. Among them, each telescopic support shaft 203 of the compensation platform 2 does not adopt a conventional universal hinge structure, but as Figures 5 - 8 shown, the upper hinge joint 205 and the lower hinge joint 204 of the present utility model both include structures such as an upper connecting disk 208, a joint middle ring 207, a lower connecting disk 206, a first folding angle spring plate 210, a second folding angle spring plate 209, etc. Among them, the adjacent first folding angle spring plates 210 and the second folding angle spring plates 209 are arranged alternately, and the extension lines of the folding angles of each first folding angle spring plate 210 and the extension lines of the folding angles of each second folding angle spring plate 209 intersect at the same point, and this point is also the joint rotation point 211. This hinge joint can provide a large angle rotation of 50° and a torsion of 20°, and has strong support stiffness. At the same time, the installation space it requires is shorter and smaller, so it is very suitable for use in large swing tables. In addition, because it has a certain torsion angle space, it can reduce the torque generated by the telescopic support shaft 203 due to mechanical errors, thereby improving the service life of the equipment.

[0047] In addition, the present utility model combines the compensation platform 2 (six-degree-of-freedom platform) of six telescopic support shafts 203 with the fast Fourier transform to form a compensation control method, which specifically includes the following steps:

[0048] Step 1: Perform a fast Fourier transform on the deck movement, specifically:

[0049]

[0050] In the above formula (1), represents the predicted frequency of the deck swing, Indicates the predicted phase angle of the deck Indicates the predicted amplitude of the deck swing Indicates the frequency corresponding to the i-th harmonic among the main N harmonic functions generated by the deck movement in the α dimension, where the α dimension includes roll angle, pitch angle, yaw angle, displacement in the X direction Δx, displacement in the Y direction Δy, displacement in the Z direction Δz, and T represents the time value within a period of time Indicates the amplitude corresponding to the i-th harmonic after Fourier transform at time T Indicates the first derivative value of the amplitude corresponding to the i-th harmonic after Fourier transform at time T

[0051] The peak detector is a well-known technology in the art and is a commercially available product

[0052] Step 2: Superimpose different frequency estimated harmonics to obtain the predicted desired movement signal of the deck at time T pre after time T

[0053]

[0054] In the above formula (2), the compensation value ρ α (t) is a constant at time t, and its calculation is as follows

[0055] where T ≤ t ≤ T pre , Indicates the estimated value at time T of the odd wave

[0056] Step 3: Construct the inverse kinematics solution formula for the upper support frame 201 on the compensation platform 2

[0057]

[0058] In the above formula (3), R x Indicates the desired roll of the support frame 201; R y Indicates the desired pitch of the support frame 201; P z Indicates the desired yaw of the support frame 201, P x Indicates the x-direction displacement of the support frame 201; P y Indicates the Y-direction displacement of the support frame 201; P z Indicates the Z-direction displacement of the support frame 201; Z0 represents the default height difference between the support frame 201 and the bottom plate 202

[0059] Step 4: Obtain the telescopic amount L of each telescopic support shaft 203 n , specifically

[0060] First, obtain the transformation matrix T between the support frame coordinate system and the bottom plate coordinate system according to the change of the support frame 201 C :

[0061]

[0062] In the above formula (4), c represents the cosine operation, and s represents the sine operation;

[0063] According to the transformation matrix T C The coordinate values of the centers of the six upper hinge joints 205 in the bottom plate coordinate system are obtained as:

[0064]

[0065] In the above formula (5), i = 1…6;

[0066] The coordinate transformation calculation in the above formula (5) is a well-known technology in the art, and the above formula (5) can be further written as:

[0067] T n =[T nx T ny 0 1] (6);

[0068] In the above formula (6), T n is the coordinate value vector of the centers of the respective upper hinge joints 205 in the bottom plate coordinate system, T nx and T ny are the X and Y components of the coordinate values of the centers of the respective upper hinge joints 205 in the support frame coordinate system.

[0069] Since the respective lower hinge joints 204 are directly connected to the bottom plate 202, the coordinate value vector B n of the centers of the respective lower hinge joints 204 in the bottom plate coordinate system can be directly expressed as:

[0070] B n =[B nx B ny 0 1] (7);

[0071] In the above formula (7), B nx and B ny respectively represent the X and Y components of the coordinate values of the centers of the lower hinge joints 204 in the bottom plate coordinate system;

[0072] In the present invention, the centers of the respective upper hinge joints 205 and the centers of the respective lower hinge joints 204 are unified in the bottom plate coordinate system through the above process, and the bottom plate is fixedly connected to the deck and swings synchronously. In this way, the center of the upper hinge joint 205 (i.e., T n ) and the center of the corresponding lower hinge joint 204 (i.e., Bn )Obtain the telescopic amount Ln corresponding to the telescopic support shaft 203 according to the distance change:

[0073]

[0074] In the above formula (8), sqrt represents the square root operation, and B nz is the Z - component of the coordinate value of the center point of the lower hinge joint 204 in the bottom plate coordinate system. Since the bottom plate 202 is fixedly connected to the deck and swings synchronously, this value can be regarded as the deck Δz in Step 1.

[0075] Step 5: The device control system controls the telescopic movement of each telescopic support shaft 203 according to the Ln obtained in Step 4, so that the support frame 201 on the upper side of the compensation platform 2 always remains horizontal, thereby blocking the influence of the regular reciprocating harmonic motion of the deck caused by the sea waves on the take - off and landing of the UAV, and reducing the dependence on the complex flight control system and high - precision sensors of the UAV.

[0076] As Figure 14 shown, the clamping mechanism 1 of the present utility model is used to realize the fixing and centering functions before the take - off and after the landing of the UAV. When clamping, the first clamping belt 104 and the second clamping belt 114 respectively drive the movement through the corresponding sliders and approach to clamp the UAV landing gear. Then, the first clamping belt 104 and the second clamping belt 114 respectively rotate to drive the first clamping lever 123 and the second clamping lever 121 to clamp the UAV landing gear front and back, so that the UAV is completely fixed. At the same time, the present utility model ensures that the clamping force of the clamping mechanism 1 is controllable through flexible control, so as to not only ensure the reliable fixation of the UAV, but also avoid damage to the UAV or the clamping belt.

[0077] In addition, the clamping control method of the clamping mechanism 1 when the UAV lands includes the following steps:

[0078] Step 1: Determine the serial numbers of each motor in the clamping mechanism 1. Among them, the first reduction motor 101 and the second reduction motor 108 drive the movement of the first clamping belt 104 synchronously, and their serial numbers are the same. Similarly, the third reduction motor 111 and the fourth reduction motor 118 drive the movement of the second clamping belt 114 synchronously, and their serial numbers are also the same. The first belt motor 105 and the second belt motor 115 are respectively marked with one serial number. In this way, the motors in the clamping mechanism 1 are represented by serial numbers 1 - 4 respectively. In this embodiment, the serial numbers of the first reduction motor 101 and the second reduction motor 108 are 1, the serial numbers of the third reduction motor 111 and the fourth reduction motor 118 are 2, the serial number of the first belt motor 105 is 3, and the serial number of the second belt motor 115 is 4.

[0079] Step 2: Construct the function relationship between the motor torque and the error, specifically as follows:

[0080]

[0081] In the above formula (9), i represents the motor serial number determined in the first step, i = 1, 2... 4, M i represents the inertia characteristic of the i-th motor, D i represents the damping characteristic of the i-th motor, K i represents the stiffness characteristic of the i-th motor. These three characteristics are all dynamic attributes of the motor. After the motor is installed, they can be obtained through motor tuning and mechanical simulation model testing, and finally determined through on-site fine-tuning. e i represents the motion position error of different motors, that is, e = x - x0, and are respectively the first derivative and the second derivative of e i obtained according to time, T i ext is the expected torque of the i-th motor;

[0082] wherein the obtaining of e i is specifically as follows: After the UAV issues a landing command, the device control system sends the expected position x of each motor to the sub-control system of the clamping mechanism 1 according to the previous setting, and calculates the error e according to the expected position x and the current position x0 i , that is, e = x - x0, and finally obtains the expected torque according to the above formula (9)

[0083] Step 3: The device control system first controls the first reduction motor 101 and the second reduction motor 108 (serial number 1) and the third reduction motor 111 and the fourth reduction motor 118 (serial number 2) to start according to the expected torque obtained in Step 2, so that the first clamping belt 104 and the second clamping belt 114 complete the clamping of the UAV landing gear. Among them, as the UAV landing gear is clamped and fixed, the first clamping belt 104 and the second clamping belt 114 will be blocked and stop moving. At this time, the device control system can adjust the torque of each reduction motor to gradually decrease according to the position feedback of each sliding seat (obtained through the conversion of the lead screw and nut, which is a well-known technology in this field), so as to ensure the clamping of the UAV without damaging the UAV or the clamping belt.

[0084] Then the device control system controls the first belt motor 105 (serial number 3) and the second belt motor 115 (serial number 4) to start according to the expected torque obtained in Step 2, so that the first clamping lever 123 and the second clamping lever 121 complete the clamping limit of the UAV landing gear from the front and back directions. At this time, the device control system can also adjust the torque of each belt motor to gradually decrease according to the lever position feedback (obtained through the conversion of the belt pulley, which is a well-known technology in this field), so as to ensure the clamping of the UAV without damaging the UAV or the clamping lever. The above is a well-known technology in this field.

Claims

1. A takeoff and landing system for a shipborne compound-wing unmanned aerial vehicle, characterized in that: It includes a clamping mechanism (1) and a compensation platform (2). The compensation platform (2) includes a support frame (201), a bottom plate (202) and a telescopic support shaft (203). The upper end of the telescopic support shaft (203) is hinged to the support frame (201) through an upper hinge joint (205), and the lower end is hinged to the bottom plate (202) through a lower hinge joint (204). The clamping mechanism (1) includes a clamping frame (122), a first belt moving mechanism and a second belt moving mechanism. The clamping frame (122) is fixedly arranged on the support frame (201). The first belt moving mechanism is arranged at one end of the clamping frame (122), and the second belt moving mechanism is arranged at the other end of the clamping frame (122). The first belt moving mechanism is provided with a rotatable first clamping belt (104), and a first clamping lever (123) is arranged on the first clamping belt (104). The second belt moving mechanism is provided with a rotatable second clamping belt (114), and a second clamping lever (121) is arranged on the second clamping belt (114).

2. The landing and takeoff system for shipborne compound-wing unmanned aerial vehicles according to claim 1, wherein: The telescopic support shaft (203) includes a telescopic drive motor (2031), a telescopic rod (2032), an outer cylinder (2034) and a support shaft base (2033). The lower end of the outer cylinder (2034) and the telescopic drive motor (2031) are both arranged on the support shaft base (2033). The telescopic rod (2032) is inserted into the outer cylinder (2034) and is driven to expand and contract by the telescopic drive motor (2031). The upper end of the telescopic rod (2032) is hinged to the support frame (201) through an upper hinge joint (205), and the lower side of the support shaft base (2033) is hinged to the bottom plate (202) through a lower hinge joint (204).

3. The takeoff and landing system for shipborne compound-wing unmanned aerial vehicles according to claim 1 or 2, characterized in that: The upper articulated joint (205) and the lower articulated joint (204) have the same structure, and both include an upper connecting disc (208), a middle joint ring (207), a lower connecting disc (206), a first angled spring plate (210) and a second angled spring plate (209). A first connecting column (2081) is provided on the lower side of the upper connecting disc (208), a second connecting column (2061) is provided on the upper side of the lower connecting disc (206), a connecting folding ear (2071) is provided on the middle joint ring (207), and a first folding ear connecting hole (2072) arranged obliquely upward is provided on one side of the connecting folding ear (2071), and a second folding ear connecting hole (2073) arranged obliquely downward is provided on the other side. The adjacent first angled spring plates (210) and second angled spring plates (209) are arranged staggeredly, and one end of the first angled spring plate (210) is fixed at the first folding ear connecting hole (2072) on the corresponding connecting folding ear (2071), and the other end is connected to the corresponding second connecting column (2061) on the lower side. One end of the second angled spring plate (209) is fixed at the second folding ear connecting hole (2073) on the corresponding connecting folding ear (2071), and the other end is connected to the corresponding first connecting column (2081) on the upper side. The angular extension lines of the respective first angled spring plates (210) and the angular extension lines of the respective second angled spring plates (209) intersect at the joint rotation point (211).

4. The landing and takeoff system for shipborne compound-wing unmanned aerial vehicles according to claim 1, characterized in that: The first belt moving mechanism includes a first sliding seat (103) and a second sliding seat (106). A first lead screw (102) driven to rotate by a first reduction motor (101) is provided on one side of the a end of the clamping frame (122), and the first sliding seat (103) is sleeved on the first lead screw (102). A second lead screw (107) driven to rotate by a second reduction motor (108) is provided on the other side of the a end of the clamping frame (122), and the second sliding seat (106) is sleeved on the second lead screw (107). First belt pulleys (109) are provided on both the first sliding seat (103) and the second sliding seat (106). A first clamping belt (104) bypasses each of the first belt pulleys (109), and a first belt motor (105) is provided on the first sliding seat (103) and is connected to the corresponding first belt pulley (109).

5. The landing and takeoff system for shipborne compound-wing unmanned aerial vehicles according to claim 4, characterized in that: The second belt moving mechanism includes a third sliding seat (113) and a fourth sliding seat (116). A third lead screw (112) driven to rotate by a third reduction motor (111) is provided on one side of the b end of the clamping frame (122), and the third sliding seat (113) is sleeved on the third lead screw (112). A fourth lead screw (117) driven to rotate by a fourth reduction motor (118) is provided on the other side of the b end of the clamping frame (122), and the fourth sliding seat (116) is sleeved on the fourth lead screw (117). Second belt pulleys (119) are provided on both the third sliding seat (113) and the fourth sliding seat (116). A second clamping belt (114) bypasses each of the second belt pulleys (119), and a second belt motor (115) is provided on the third sliding seat (113) and is connected to the corresponding second belt pulley (119).

6. The takeoff and landing system for shipborne compound-wing unmanned aerial vehicles according to claim 5, characterized in that: Mounting columns (2012) are provided at each corner end of the support frame (201), and two side beam ends of the clamping frame (122) are respectively fixed to the corresponding mounting columns (2012) through fixed connectors (2013). A first slide rail (120) is provided on one side of the clamping frame (122), and a second slide rail (110) is provided on the other side. A first slider (1031) provided on the lower side of the first sliding seat (103) and a third slider provided on the lower side of the third sliding seat (113) are engaged with the first slide rail (120). A second slider (1061) provided on the lower side of the second sliding seat (106) and a fourth slider provided on the lower side of the fourth sliding seat (116) are engaged with the second slide rail (110).

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