CN107472518A - Intelligent unattended machine system - Google Patents
Intelligent unattended machine system Download PDFInfo
- Publication number
- CN107472518A CN107472518A CN201710799712.8A CN201710799712A CN107472518A CN 107472518 A CN107472518 A CN 107472518A CN 201710799712 A CN201710799712 A CN 201710799712A CN 107472518 A CN107472518 A CN 107472518A
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- China
- Prior art keywords
- unmanned plane
- machine system
- intelligent unattended
- base station
- unattended machine
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000005611 electricity Effects 0.000 claims abstract description 5
- 239000013589 supplement Substances 0.000 claims abstract description 4
- 238000003032 molecular docking Methods 0.000 claims description 34
- 230000007246 mechanism Effects 0.000 claims description 16
- 239000012528 membrane Substances 0.000 claims description 10
- 230000000737 periodic effect Effects 0.000 claims description 3
- 230000002441 reversible effect Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 2
- 210000000078 claw Anatomy 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 6
- 230000003993 interaction Effects 0.000 description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000005295 random walk Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
-
- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of Intelligent unattended machine system, including unmanned plane, special unmanned plane passage and control centre for unmanned plane disengaging, it can be in communication with each other between the unmanned plane and control centre, unmanned plane locating module and the execution unit of executable task are provided with unmanned plane.Also include base station, the unmanned plane can stop supplement electricity in the base station or transmit data.The Intelligent unattended machine system of the present invention includes execution unit, unmanned plane passage can be passed in and out under the control of control centre and completes certain task, and can auto-returned base station charged and/or transmitted and updated the data, intelligence degree is higher, and the occasions such as express delivery are taken available for family.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to a kind of Intelligent unattended machine system.
Background technology
The application field of current multi-rotor unmanned aerial vehicle is more single, and multi-rotor unmanned aerial vehicle is being applied except its toy attribute
Field is mainly used in taking photo by plane, and the use of current unmanned plane is still mainly artificially to let fly away, manual control and artificial charging, from nothing
Man-machine intelligent Application is still remote.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention, which provides one kind, can independently perform certain appoint
The Intelligent unattended machine system of business.
Technical scheme：To achieve the above object, Intelligent unattended machine system of the invention includes unmanned plane, specially supplies unmanned plane
The unmanned plane passage of disengaging and control centre, it can be in communication with each other between the unmanned plane and control centre, be set on unmanned plane
There are unmanned plane locating module and the execution unit of executable task.
Further, in addition to base station, the unmanned plane can stop supplement electricity in the base station or transmit data.
Further, the unmanned plane passage for can automatic open close automatically-controlled door, be provided with certification mould on unmanned plane passage
Block, the request module that can be directly or indirectly communicated with authentication module is provided with the unmanned plane.
Further, the execution unit includes Suction cup assembly；The Suction cup assembly includes sucker, the tracheae of connecting sucker
And for producing the negative pressure generating element of negative pressure；The unmanned plane includes multiple wing arms, includes motor on each wing arm,
One end connection rotor of the output shaft of motor, the other end connection negative pressure generating element of the output shaft of motor.
Further, the negative pressure generating element includes element housings, and elastic membrane, the bullet are provided with the element housings
Property film and element housings inner chamber between surround a chamber with air intake and gas outlet, be provided with the air intake into gas
Valve, air outlet valve is provided with the gas outlet, and the motor vibrates elastic membrane periodic reverse by drive mechanism.
Further, stating drive mechanism includes drive link and the eccentric wheel on the output shaft of motor, described
It is hinged relationship between one end of drive link and the eccentric wheel, the other end of the drive link connects the elastic membrane.
Further, the electromagnetism for controlling break-make between sucker and negative pressure generating element is additionally provided with the unmanned plane
Valve.
Further, the base station for fixed setting or is movably arranged.
Further, it is provided between the unmanned plane and the base station for docking between the two and relatively-stationary docking
Unit and the auxiliary docking system for adjusting both relative positions.
Further, including the first docking unit docks unit, the first docking unit and second pair of order with second
Member can relative separation or docking；First docking unit includes first interface, and the second docking unit includes second interface and is used for
The seizure mechanism of the docking unit of crawl first, the seizure mechanism can be translated and rotated relative to the second interface, and it is flat
It is parallel to move the center of rotation that direction rotates.
Beneficial effect：The Intelligent unattended machine system of the present invention includes execution unit, can be passed in and out under the control of control centre
Unmanned plane passage completes certain task, and can auto-returned base station charged and/or transmitted and updated the data, intelligence degree
It is higher, take the occasions such as express delivery available for family.
Brief description of the drawings
Accompanying drawing 1 is the monolithically fabricated figure of Intelligent unattended machine system；
Accompanying drawing 2 is the constitutional diagram of unmanned plane, docking unit, base station and auxiliary docking cell mesh；
Accompanying drawing 3 is the structure chart of negative pressure generating element；
Accompanying drawing 4 is the structure chart of the first embodiment of docking unit；
Accompanying drawing 5 is the sectional view of the first embodiment of docking unit；
Accompanying drawing 6 is the partial enlarged drawing of the first embodiment of docking unit；
Accompanying drawing 7 is the sectional view of second of embodiment of docking unit.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
Intelligent unattended machine system as shown in accompanying drawing 1- accompanying drawings 2, including unmanned plane 1, it is special pass in and out for unmanned plane 1 nobody
Machine passage 2 and control centre 3, it can be in communication with each other between the unmanned plane 1 and control centre 3, positioning is provided with unmanned plane 1
The execution unit 11 of module and executable task.Unmanned plane 1 includes unmanned plane body 12 and is arranged in unmanned plane body 12
Winged control unit, the control centre 3 can be arranged on fixed position, and unmanned plane 1 and its radio communication, control centre 3 also may be used
Moved with being arranged on unmanned plane 1 with unmanned plane 1.Above-mentioned unmanned plane 1 is multi-rotor unmanned aerial vehicle.Nobody is provided with unmanned plane 1
Machine locating module, control centre 3 can obtain the positional information of unmanned plane 1 according to unmanned plane locating module.Unmanned plane positions herein
Module can be, but not limited to be d GPS locating module or Big Dipper locating module.The spy for obstacle avoidance aiding is additionally provided with unmanned plane 1
Unit is surveyed, the probe unit can be a kind of, a variety of or whole in laser radar, infrared sensor, sonac.
Above-mentioned unmanned plane passage 2 can be the simple perforate on building wall, it is preferable that unmanned plane passage 2 is can be automatic
The automatically-controlled door of keying, unmanned plane passage 2 are arranged on the wall of building or on roof, and unmanned plane 1 can pass through unmanned plane passage 2
Moved between different spaces in Discussion on architecture or building, authentication module, the unmanned plane are provided with unmanned plane passage 2
The request module that can be directly or indirectly communicated with authentication module is provided with 1.
In the first embodiment, request module directly sends solicited message to authentication module, and authentication module receives please
Seek information and be confirmed whether be registered unmanned plane 1 and this period whether P Passable, if then to nobody
Machine 1 is let pass, if otherwise authentification failure, unmanned plane 1 can not pass through；Under this situation, authentication module can be isolated module,
Fixed determining program is only carried out, authentication module can also be established with control centre 3 and communicated, and control centre 3 can set according to user
Surely pass-through rule is updated.
In second of embodiment, authentication module can be established with control centre 3 and communicated, and request module sends solicited message
To control centre 3, control centre 3 judge unmanned plane 1 by authority and decide whether to let pass, and conclusion is sent to certification mould
Block, authentication module judge whether to activate to open the program of automatically-controlled door according to the conclusion of control centre 3.By set request module with
Authentication module, it is ensured that the security of system, while passing through for each unmanned plane passage 2 can be flexibly set at any time according to demand
Authority, the information such as the time section that can be let pass are set, realize the intelligent management to unmanned plane 1.
The execution unit 11 includes Suction cup assembly；The Suction cup assembly connects including sucker 111, one end and sucker 111
Tracheae 112 and negative pressure generating element 113 for producing negative pressure, the other end direct or indirect connection negative pressure of tracheae 112
Generating element 113；The unmanned plane body 12 includes multiple wing arms 121, includes motor 122, motor on each wing arm 121
One end connection rotor of 122 output shaft, the other end connection negative pressure generating element 113 of the output shaft of motor 122.
Negative pressure generating element 113 as shown in Figure 3 includes element housings 1131, and bullet is provided with the element housings 1131
Property film 1132, a chamber with air intake and gas outlet is surrounded between elastic membrane 1132 and element housings 1131 inner chamber
Room, air inlet valve 1133 is provided with the air intake, is provided with air outlet valve 1134 at the gas outlet, the motor 122 passes through transmission
Structure vibrates the periodic reverse of elastic membrane 1132.In the first embodiment, each negative pressure generating element 113 passes through tracheae
112 independent connection suckers 111；The drive mechanism includes drive rod 1135 and inclined on the output shaft of motor 122
Heart wheel 1136, it is hinged relationship between one end of the drive rod 1135 and the eccentric wheel 1136, the drive rod 1135
The other end connects the elastic membrane 1132.
In second of embodiment, negative pressure generating element 113 connects negative pressure cavity, and all suckers 111 connect with negative pressure cavity
Connect.For the unmanned plane body 12 of more rotors, negative pressure generating element 113 can be each equipped with wing arm 121, can also
It is spaced one or more wing arms 121 and is provided with negative pressure generating element 113, such as eight rotor wing unmanned aerial vehicles, can be in its symmetric position
Negative pressure generating element 113 is set on four wing arms 121, negative pressure generating element 113 is not provided with other wing arms 121.
For the ease of controlling the break-make of sucker 111, in addition to for controlling the magnetic valve 114 of the source of the gas break-make of sucker 111.
In another embodiment, in addition to base station 5, the unmanned plane 1 can stop supplement electricity or biography in the base station 5
Delivery data.Fixed setting (base station 5 is fixed on wall, ceiling or ground) is in the base station 5 or is movably arranged (base station 5
Being arranged on dolly can be used cooperatively with unmanned plane 1).Architecture module is provided with base station 5.
Be provided between the unmanned plane 1 and the base station 5 for dock between the two and it is relatively-stationary dock unit with
And for adjusting the auxiliary docking system of both relative positions.Docking system is aided in include by the multiple independent of scattering device
61 groups of the dispersal unit and independent interactive separate unit 62, institute can be carried out with each dispersal unit 61 that dispersal unit 61 forms
State one of them in both 61 groups of dispersal unit and separate unit 62 to be arranged on base station 5, another is arranged on unmanned plane 1.
It should be noted that the interaction between dispersal unit 61 and separate unit 62 herein can be the interaction (dispersal unit 61 of signal
Signal, another one reception signal are sent with one of which in separate unit 62) or visual interactive (dispersal unit
61 include visually recognizable information with one of which in separate unit 62, and another one can be read and judge the information).Nobody
First interface 41-2 is installed on machine 1, second interface 42-2, first interface 41-2 and second interface 42-2 are installed on base station 5
It can be docked under the auxiliary of docking unit.
Specifically, the rectangular array of dispersal unit 61 distribution or circumference array are distributed on multiple concentric circles, this
The distribution mode of the latter is used in embodiment, when 61 groups of dispersal unit is arranged on unmanned plane 1, dispersal unit 61 is arranged on nothing
On the body part of man-machine body 12 and wing arm 121, equal linear array is placed with equal on the length direction of each wing arm 121
The dispersal unit 61 of quantity；First interface 41-2 is located at the home position of concentric circles.When dispersal unit, 61 groups are arranged on base station 5
When, second interface 42-2 is located at the home position of concentric circles.
In the first embodiment, the separate unit 62 is vision element, and the dispersal unit 61 is Quick Response Code, each
Quick Response Code is respectively provided with uniqueness.Here vision element refers to that camera or other vision sensors, vision element can be read two
Dimension code information is simultaneously decoded by control centre 3, and the 2 D code information that control centre 3 can read according to it determines unmanned plane
1 with the relative position of base station 5, and control unmanned plane 1 to carry out position compensation, in order that unmanned plane 1 is finally relatively accurately found
Second interface 42-2 center on base station 5, it is provided with base station 5 and the heart is marked for what vision element was caught, it is described to heart mark
The cross pictorial symbolization or star graphic mark that note can catch for convenience of vision element.
In second of embodiment, one of them in both the dispersal unit 61 and separate unit 62 is launched for signal
Device, another is signal receiver.Signal projector herein is infrared lamp, and signal receiver is infrared sensitive element.This
In embodiment, dispersal unit 61 is signal receiver, and separate unit 62 is signal projector, and 61 groups of dispersal unit is arranged on base
Stand on 5, separate unit 62 is arranged on unmanned plane 1.
Docking unit includes that unit 42 can be docked with second with respect to the first docking unit 41 of division；First pair of order
Member 41 includes the companion flange 41-1 of ring-type, the second docking unit 42 include the pedestal 42-1 being arranged on base station 5 and
For carrying out the seizure mechanism of center of circle positioning and axially position to companion flange 41-1, the seizure mechanism can be relative to described
Pedestal 42-1 is lifted.
The first docking unit 41 also includes first interface 41-2, and the second docking unit 42 also includes second interface
42-2, in order to be that first interface 41-2 can accurately be docked with second interface 42-2 contact alignment, the seizure
Mechanism can rotate relative to the pedestal 42-1, lifting direction of its Pivot axle parallel to its opposite base 42-1.
The positioning system for determining both relative positions is provided between the first interface 41-2 and second interface 42-2
System.Signal transmitter unit is provided with one in both the first interface 41-2 and second interface 42-2, is set in another one
There is signal receiving unit.Preferably, signal transmitter unit is optical transmitting set herein, and signal receiving unit is optical receiver, works as light
When light that transmitter is sent (can be visible ray or black light) is received by optical receiver, then represent first interface 41-2 with
Position alignment between second interface 42-2, in can mated condition.
The seizure mechanism includes catching circumference array on support 42-3, the seizure support 42-3 and is provided with least three
It can be caught along the claw 42-4, the claw 42-4 for the radial direction synchronous translational for catching support 42-3 including the portion 42-41 that is slidably matched, edge
Catch support 42-3 axially extending axially-extending portion 42-42 and prolong along the radial direction to extend radially outwardly for catching support 42-3
Extending portion 42-43；Claw 42-4 motion is driven by driving arm 42-5, specifically, corresponding to claw 42-4 institutes each described
State to catch to be provided with support 42-3 in the middle part of drive link a 42-21, the drive link 42-21 and be hinged on the seizure
On support 42-3, (drive link 42-21 one end is stretched into is opened in claw 42- to drive link 42-21 one end connection claw 42-4
In pit on 4, and can have certain relative motion relative to pit), other end connection driving arm 42-5 (driving arms
Annular groove is provided with 42-5 excircle, the driving arm 42-5 other end is stretched into annular groove), under original state, institute
There is claw 42-4 to gather at the middle part of the seizure support 42-3, when performing capturing motion, the claw 42-4 four-ways are scattered to be in
Dispersity；The driving arm 42-5 rises under the promotion of the active bracket 42-6 in the axial direction of the seizure support 42-3
Drop, and the 42-7 that has elastic component is set between driving arm 42-5 and active bracket 42-6；Active bracket 42-6, which is provided with, to be used for
Push down the flanging flange 42-61 of the companion flange 41-1；Active bracket 42-6 is by being arranged on the seizure support 42-3
Drive device drives.
As the first embodiment, as shown in figs. 4 through 6, the drive device includes being arranged on the seizure support
Screw mandrel 42-10, the active bracket 42-6 on 42-3 are provided with the screw thread being used cooperatively with the screw mandrel 42-10, the silk
Bar 42-10 is driven by the first motor 42-11 and rotated.Specifically, first gear 42-12 is fixed with the screw mandrel 42-10, it is described
The second gear 42-13 engaged with the first gear 42-12 is provided with first motor 42-11 output shaft.
As second of embodiment, as shown in Figure 7, the drive device includes being arranged on the seizure support 42-3
On electromagnet 42-8, the active bracket 42-6 on be provided with armature 42-9.
On lifting support 42-14, the seizure support 42-3 can be relative to the liter for the seizure mechanism integral installation
Descending branch frame 42-14 rotates, and the lifting support 42-14 can lift relative to the pedestal 42-1.
The 3rd gear 42-15 is fixed with the seizure support 42-3, the second electricity is installed on the lifting support 42-14
Machine 42-16, the 4th gear 42- engaged with the 3rd gear 42-15 is installed on the output shaft of the second motor 42-16
17。
The second screw mandrel 218 and the 3rd motor 42- for driving the second screw mandrel 218 are provided with the pedestal 42-1
The feed screw nut 42-20 being used cooperatively with the second screw mandrel 218 is provided with 19, the lifting support 42-14.
It is as follows that it docks principle：3rd motor 42-19 driving lifting support 42-14 motions make the claw 42-4 of seizure mechanism
Stretch into companion flange 41-1, catching the claw 42-4 of mechanism, outwards scattered under driving arm 42-5 driving to prop up docking convex
Edge 41-1 inner ring, it can so play a part of center of circle positioning, after the center of circle positioning for completing companion flange 41-1, driving arm
42-5 can not continue to move, due to setting the 42-7 that has elastic component between active bracket 42-6 and driving arm 42-5, therefore it is main
Dynamic support 42-6 is unrestricted to be continued to move to close to the direction for catching support 42-3, until active bracket 42-6 flanging is convex
The radial extension that edge 42-61 props up companion flange 41-1 and promotes its axial movement to make companion flange 41-1 prop up claw 42-4
Untill 42-43 can not be moved, now the radial extension 42-43 on flanging flange 42-61 and claw 42-4 is pushed down pair respectively
Flange 41-1 both sides are connect, complete companion flange 41-1 axially position.After completing positioning, the second motor 42-16 drives and caught
Catching mechanism integral-rotation makes first interface 41-2 and second interface 42-2 contact alignment, and then, the 3rd motor 42-19 drivings rise
Descending branch frame 42-14 is moved, and first interface 41-2 is docked with second interface 42-2, completes electrically docking.
Step of docking between unmanned plane 1 and base station 5 is：
1) control centre 3 obtains unmanned plane 1 and base station 5 respectively according to unmanned plane locating module and architecture module
Positional information；
2) according to the control of the positional information of base station 5 and unmanned plane 1, both generation relative motions make unmanned plane 1 for control centre 3
In the overhead of the base station 5 (when base station 5 be fixed on ground or base station 5 set to be mobile) or lower section (when base station 5 is fixed
When on wall or ceiling)；
2) unmanned plane 1 flies to certain altitude, and the random walk in the certain limit above or below the base station 5
Planning flight；
3) when some dispersal unit 61 and the separate unit 62 produce interaction, then unmanned plane 1 and base station 5 can be primarily determined that
Between relative position information, control centre 3 according to relative position information carry out position compensation, and according to position compensation during
Interaction between dispersal unit 61 and separate unit 62 constantly determines both relative positions, until unmanned plane 1 is in base station 5
The relative position state that can be docked；
4) the docking unit of base station 5 is docked with the unmanned plane 1.
As a kind of application of the present invention, the unmanned plane of Intelligent unattended machine system of the invention may pass through unmanned plane passage extremely
The fixed several positions in outdoor take thing, in order to improve the kinematic accuracy of position, the position of thing can taken to set scattered list
Tuple is used to take object location with separate unit interaction so as to be accurate to reach.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. Intelligent unattended machine system, it is characterised in that：Including unmanned plane, special unmanned plane passage and control for unmanned plane disengaging
Center processed, can be in communication with each other between the unmanned plane and control centre, unmanned plane locating module is provided with unmanned plane and can
The execution unit of execution task.
2. Intelligent unattended machine system according to claim 1, it is characterised in that：Also include base station, the unmanned plane can be
Stop supplement electricity or transmit data in the base station.
3. Intelligent unattended machine system according to claim 1, it is characterised in that：The unmanned plane passage is can automatic open close
Automatically-controlled door, be provided with authentication module on unmanned plane passage, being provided with the unmanned plane can be direct or indirect with authentication module
The request module of communication.
4. Intelligent unattended machine system according to claim 1, it is characterised in that：The execution unit includes Suction cup assembly；
The Suction cup assembly includes sucker, the tracheae of connecting sucker and the negative pressure generating element for producing negative pressure；The unmanned plane
Comprising multiple wing arms, motor is included on each wing arm, one end of the output shaft of motor connects rotor, the output shaft of motor
The other end connects negative pressure generating element.
5. Intelligent unattended machine system according to claim 4, it is characterised in that：The negative pressure generating element includes element shell
Body, is provided with elastic membrane in the element housings, surrounded between elastic membrane and the element housings inner chamber one with air intake and
The chamber of gas outlet, air inlet valve being provided with the air intake, air outlet valve being provided with the gas outlet, the motor, which passes through, is driven knot
Structure vibrates elastic membrane periodic reverse.
6. Intelligent unattended machine system according to claim 5, it is characterised in that：The drive mechanism include drive link with
And the eccentric wheel on the output shaft of motor, it is hinged relationship between one end of the drive link and the eccentric wheel,
The other end of the drive link connects the elastic membrane.
7. Intelligent unattended machine system according to claim 5, it is characterised in that：It is additionally provided with the unmanned plane for controlling
The magnetic valve of break-make between sucker processed and negative pressure generating element.
8. Intelligent unattended machine system according to claim 2, it is characterised in that：The base station is fixed setting or removable
Set.
9. Intelligent unattended machine system according to claim 8, it is characterised in that：Set between the unmanned plane and the base station
Be equipped with for dock between the two and it is relatively-stationary docking unit and for adjust both relative positions auxiliary dock system
System.
10. Intelligent unattended machine system according to claim 9, it is characterised in that：Including the first docking unit and second pair
Order member, the first docking unit docks unit with second can relative separation or docking；First docking unit connects including first
Mouthful, the second docking unit includes second interface and the seizure mechanism for capturing the first docking unit, and the seizure mechanism can
Translate and rotate relative to the second interface, the center of rotation that its translation direction rotates is parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710799712.8A CN107472518A (en) | 2017-09-07 | 2017-09-07 | Intelligent unattended machine system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710799712.8A CN107472518A (en) | 2017-09-07 | 2017-09-07 | Intelligent unattended machine system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107472518A true CN107472518A (en) | 2017-12-15 |
Family
ID=60585223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710799712.8A Withdrawn CN107472518A (en) | 2017-09-07 | 2017-09-07 | Intelligent unattended machine system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107472518A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113423641A (en) * | 2019-02-25 | 2021-09-21 | 株式会社日立高新技术 | Medical material delivery system |
-
2017
- 2017-09-07 CN CN201710799712.8A patent/CN107472518A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113423641A (en) * | 2019-02-25 | 2021-09-21 | 株式会社日立高新技术 | Medical material delivery system |
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Application publication date: 20171215 |