CN105951614A - Relay transduction service station for rotor unmanned aerial vehicle - Google Patents
Relay transduction service station for rotor unmanned aerial vehicle Download PDFInfo
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- CN105951614A CN105951614A CN201610287477.1A CN201610287477A CN105951614A CN 105951614 A CN105951614 A CN 105951614A CN 201610287477 A CN201610287477 A CN 201610287477A CN 105951614 A CN105951614 A CN 105951614A
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- 238000010361 transduction Methods 0.000 title abstract 5
- 238000007599 discharging Methods 0.000 claims abstract description 13
- 238000003860 storage Methods 0.000 claims abstract description 8
- 230000002463 transducing effect Effects 0.000 claims description 38
- 238000001514 detection method Methods 0.000 claims description 9
- 238000005286 illumination Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 3
- 230000004807 localization Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000011084 recovery Methods 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract 2
- 229910052742 iron Inorganic materials 0.000 abstract 1
- 230000005611 electricity Effects 0.000 description 8
- 230000006870 function Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000005059 dormancy Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000007958 sleep Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F3/00—Landing stages for helicopters, e.g. located above buildings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- H02J7/0027—
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Power Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a relay transduction service station for a rotor unmanned aerial vehicle. The relay transduction service station comprises a service station cabin body shell, a sensor assembly, a solar cell panel, a storage battery, a solar charging and discharging controller, an electric push rod assembly, an electric support assembly, a lifting platform, a linear lifting motor assembly, a master control circuit board, a camera shooting device, a mechanical arm and a mechanical arm drive box. The relay transduction service station can be installed on an unattended outdoor platform of a power line iron tower and the like, full-automatic charging and quick transduction relay services are provided for the rotor unmanned aerial vehicle under the unattended condition, the problem existing in energy self-recovery supply of the service station is solved, and a solution is provided for the long-distance full-automatic services and the load relaying relay service of the rotor unmanned aerial vehicle.
Description
Technical field
The invention belongs to rotor wing unmanned aerial vehicle technical field, particularly relate to the relaying transducing service station of a kind of rotor wing unmanned aerial vehicle.
Background technology
Existing making battery-powered rotor wing unmanned aerial vehicle limit due to electricity, the flight time is shorter, it is difficult to complete distance and long-time under the conditions of task.Even if increase battery capacity, but owing to the increase of loading capacity can not bring the prolongation of flight time.This use limits and makes current rotor wing unmanned aerial vehicle need to rely on the operation and maintenance flying to control hands personnel in use, and the cost of labor flying to control hands higher also makes the use cost of rotor wing unmanned aerial vehicle increase.Along with machine vision application in rotor wing unmanned aerial vehicle, and the stepping up of navigation accuracy, automatic tracking technology and automatic obstacle-avoiding, rotor wing unmanned aerial vehicle has possessed the technical conditions of automatization's flight execution task the most substantially, as long as supply of electric power difficult point can be solved, just can significantly widen the purposes of rotor wing unmanned aerial vehicle, not only reduce the labor intensity of user, and use cost can be greatly reduced, by control scheme optimization task, the long-time manual intervention flying to control hands can be eliminated the reliance on completely.
The correlation technique in current existing field is only concentrated mainly on the wireless charging aspect at a slow speed of unmanned plane, the solar battery panel that have employed having is originated as supply of electric power, but for the quick-replaceable battery of unmanned plane or change memory card, and following refuelling battery etc. is the most helpless.
Summary of the invention
In order to solve above-mentioned technical problem, the invention provides a kind of rotor wing unmanned aerial vehicle relay services transducing service station, can be used for the relay services in the case of electric power deficiency during rotor wing unmanned aerial vehicle field work, the accessory such as safety dwelling, quick-replaceable battery, memory module is provided for unmanned plane, recovers the service of former interruption of work, unmanned plane can be stopped website as train, of short duration feed after continue its work, substantially prolongs working time and the operating distance of unmanned plane, improve the work efficiency of unmanned plane, reduce use cost.
The technical solution adopted in the present invention is: a kind of rotor wing unmanned aerial vehicle relaying transducing service station, it is characterised in that: include service station nacelle shell, sensor cluster, solar panel, accumulator, solar charging/discharging controller, electric pushrod assembly, electric bracket assembly, hoistable platform, straight line lifting motor assembly, main control board, camera head, mechanical arm, mechanical arm driving box；
Described sensor cluster is arranged on described service station nacelle housing exterior, for detecting environmental data；
Described solar panel is arranged on the nacelle outer surface of outer cover of described service station；
Described service station nacelle cover top portion is configured with the capable of opening and closing vault hatch door controlled by described electric pushrod assembly；
Described electric bracket assembly, after unmanned plane drops on described hoistable platform, carries out righting, fine position and fastening to unmanned plane；
Described hoistable platform can be arranged on the nacelle shell inner bottom surface of described service station up and down by described straight line lifting motor assembly, described main control board is fixedly mounted on the nacelle shell inner bottom surface of described service station by fixing supporting plate, and described accumulator, solar charging/discharging controller are all fixedly mounted on the nacelle shell inner bottom surface of described service station；
Described camera head is fixedly mounted in the nacelle shell of described service station, is used for the accessory on the position to unmanned plane and unmanned plane, and the motion to described mechanical arm carries out real-time tracking and image recognition, and the control for described main control board provides foundation；
Described mechanical arm and mechanical arm driving box are fixedly mounted in the nacelle shell of described service station, described mechanical arm driving box is under the control of described main control board, control described mechanical arm and in principal and subordinate's unmanned plane, extract battery block or other accessory is replaced, accessory under changing is placed into space, servicing area be charged, the accessory of charging complete is transferred to space, spare part district；
Described solar panel (301), solar charging/discharging controller (303), accumulator (302), main control board (701) are connected by wire；Described main control board (701) is connected with described sensor cluster (201), electric pushrod assembly (401), electric bracket assembly (501), straight line lifting motor assembly (602) respectively, for providing adaptive electric power to said modules, and control said modules work.
As preferably, described service station nacelle shell is provided with shell location pattern in 2 D code, when unmanned plane lands, carries out nacelle orientation, service station according to described shell location pattern in 2 D code and understand.
As preferably, described service station nacelle shell is gone to the bottom and is provided with shell auxiliary positioning line on outer, accurately differentiates location for unmanned plane when landing.
As preferably, described sensor cluster includes temperature sensor, humidity sensor, wind sensor and light sensor.
As preferably, described electric pushrod assembly includes comprising flexible push rod, driving box and infrared detection device, described flexible push rod one end and described driving box, the other end are connected to described vault hatch door, are used under the control of described main control board, electric opening and the described vault hatch door of closedown；Described infrared detection device is connected with described driving box, is used for checking that described vault hatch door is the most fully open and fully closed.
As preferably, described electric bracket assembly includes rocking arm, fork arm, control box, force feedback sensor；Described one end is connected with described control box, the other end is connected with described control box, and after unmanned plane lands, rocking arm rotates, and drives described fork arm to contact unmanned plane, unmanned plane is carried out righting, fine position and fastening；Described feedback transducer is arranged on described fork arm, is connected with described control box, for controlling the dynamics of described fork arm contact unmanned plane, it is to avoid macrolesion unmanned plane of exerting oneself.
As preferably, the landing platform of described hoistable platform is drawn and has centralized positioning circle, edge setting circle, inside casing location line, center auxiliary positioning circle and cross cut-off rule, provide foundation for the vision localization for unmanned plane；The bottom of described hoistable platform is fixedly installed Wireless charging coil, for unmanned plane battery is carried out the most contactless charging.
As preferably, described straight line lifting motor assembly comprises linear electric motors and electronic axle, it is connected on described hoistable platform, by driving the flexible of electronic axle so that hoistable platform can rise or fall, carry it for rising described hoistable platform when unmanned plane lands, drop back in cabin, service station at supply process stage, avoid damaging, again rise after having fed, make unmanned function fly away from voluntarily.
As preferably, it is additionally provided with storage tank in the nacelle shell of described service station, is made up of with space, servicing area space, spare part district, place the accessory just taken off respectively and be complete the accessory of charging；The accessory just taken off needs to connect charger in space, servicing area and is charged supply, and the accessory being complete charging should be transferred out space, servicing area, is placed into space, spare part district standby.
As preferably, in the nacelle shell of described service station, it is additionally provided with illuminator, for lighting under the control of described main control board, provides suitably illumination to carry out graphical analysis for described camera head.
The present invention uses and is cladded with the source that solar panel and charging-discharging controller recover as supply of electric power and self energy；The arch using electric pushrod to control switchs hatch door automatically, and the hatch door as preventing water leakage passes in and out for unmanned plane；The logotype on shell is used to carry out image recognition location for unmanned plane, accurately to drop to center in cabin；Use the 2 D code information of air brushing on shell, embed the information such as the orientation of self, height, utilize video camera shooting to understand relaying transducing service station azimuth information, to adjust inbound angle for unmanned plane；The sensor group of integrated installation on shell is used to carry out the data acquisition of rainfall, illumination, temperature, wind-force, humidity, for whether opened door service provides basis for estimation；Employing hoistable platform is for unmanned plane landing and stops, and depicts figure location use when unmanned plane lands in location on platform, is integrated with Wireless charging coil and is available for use of charging at a slow speed under platform；Have employed rocking arm fixed support location after unmanned plane lands with fixing；Camera head (binocular stereo vision video camera) is used to carry out identification and the Recognition feedback of manipulator motion position of the accessories such as unmanned plane battery module, memory module；Have employed multivariant mechanical arm and carry out crawl and the replacing of accessory module；Have employed space, spare part district with space, servicing area, accessory carry out energy recovery and stack management；Have employed a set of master control circuit board being provided with built-in system software above-mentioned various functions are uniformly controlled, and carry out radio communication with unmanned plane, after changing accessory, wake up unmanned plane up recover the task that its original is interrupted.
Compared with prior art, the present invention may be installed on the unattended outdoor platforms such as electric lines of force steel tower, the full-automatic charging in the case of unmanned nurse and fast quick change electricity relay services is provided for rotor wing unmanned aerial vehicle, and solve the energy self-recoverage supply problem of self, distance full-automation service for rotor wing unmanned aerial vehicle provides solution, can be widely used for electric power line inspection, agricultural unmanned plane sprays the fields such as automated job.The present invention, on the basis of charging, adds and changes electricity and change the function of memory card, add machine vision function and mechanical arm, provide condition for the fast automatic equalization of unmanned plane distance under the conditions of unattended.
Accompanying drawing explanation
Fig. 1: for the sectional view of the embodiment of the present invention；
Fig. 2: for the side view of the embodiment of the present invention；
Fig. 3: for registration pattern on the hoistable platform of the embodiment of the present invention and markings schematic diagram；
Fig. 4: for the operating diagram that opens the cabin of the embodiment of the present invention.
Detailed description of the invention
Understand for the ease of those of ordinary skill in the art and implement the present invention, below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail, should be appreciated that enforcement example described herein is merely to illustrate and explains the present invention, be not intended to limit the present invention.
Ask for an interview Fig. 1, Fig. 2 and Fig. 3, a kind of rotor wing unmanned aerial vehicle relaying transducing service station that the present invention provides, it is fixedly mounted on outdoor platform；Including service station nacelle shell 101, sensor cluster 201, solar panel 301, accumulator 302, solar charging/discharging controller 303, electric pushrod assembly 401, electric bracket assembly 501, hoistable platform 601, straight line lifting motor assembly 602, main control board 701, camera head 703, mechanical arm 801, mechanical arm driving box 802；Solar panel 301, solar charging/discharging controller 303, accumulator 302, main control board 701 are connected by wire；Main control board 701 is connected with sensor cluster 201, electric pushrod assembly 401, electric bracket assembly 501, straight line lifting motor assembly 602, camera head 703, illuminator 704, mechanical arm driving box 802 respectively, for providing adaptive electric power to said modules, and control said modules work.
It is provided with shell location pattern in 2 D code 103 on service station nacelle shell 101, when unmanned plane lands, carries out nacelle orientation, service station according to shell location pattern in 2 D code 103 and understand.Service station nacelle shell 101 is gone to the bottom and is provided with shell auxiliary positioning line 104 on outer, accurately differentiates location for unmanned plane when landing.
Sensor cluster 201 includes temperature sensor, humidity sensor, wind sensor and light sensor, is arranged on service station nacelle shell 101 outside, for detecting environmental data.
Solar panel 301 is arranged on nacelle shell 101 outer surface of service station；Employing multiaspect covers, and enough with guaranteed output, whether vault hatch door 102 covers by power decision.
Electric pushrod assembly 401 includes comprising flexible push rod, driving box and infrared detection device, and push rod one end of stretching is connected to vault hatch door 102 with driving box, the other end, is used under the control of main control board 701, electric opening and closedown vault hatch door 102；Infrared detection device is connected with driving box, is used for checking that vault hatch door 102 is the most fully open and fully closed.
Electric bracket assembly 501 includes rocking arm, fork arm, control box, force feedback sensor；Box is connected one end, the other end is connected with control box with control, and after unmanned plane lands, rocking arm rotates, and drives fork arm contact unmanned plane, unmanned plane is carried out righting, fine position and fastening；Feedback transducer is arranged on fork arm, is connected with controlling box, for controlling the dynamics of fork arm contact unmanned plane, it is to avoid macrolesion unmanned plane of exerting oneself.
Hoistable platform 601 can be arranged on nacelle shell 101 inner bottom surface of service station up and down by straight line lifting motor assembly 602, main control board 701 is fixedly mounted on nacelle shell 101 inner bottom surface of service station by fixing supporting plate 702, and accumulator 302, solar charging/discharging controller 303 are all fixedly mounted on nacelle shell 101 inner bottom surface of service station；
Draw on the landing platform 6011 of hoistable platform 601 and have centralized positioning circle 6012, edge setting circle 6013, inside casing location line 6014, center auxiliary positioning circle 6015 and cross cut-off rule 6016, provide foundation for the vision localization for unmanned plane；The bottom of hoistable platform 601 is fixedly installed Wireless charging coil, for unmanned plane battery is carried out the most contactless charging.
Straight line lifting motor assembly 602 comprises linear electric motors and electronic axle, it is connected on hoistable platform 601, by driving the flexible of electronic axle, hoistable platform can be risen or fallen, carry it for rising hoistable platform 601 when unmanned plane lands, drop back in cabin, service station at supply process stage, it is to avoid damage, again rise after having fed, make unmanned function fly away from voluntarily.
Camera head 703 uses binocular stereo vision video camera, it is fixedly mounted in service station nacelle shell 101, for to the accessory on the position of unmanned plane and unmanned plane, and the motion to mechanical arm 801 carries out real-time tracking and image recognition, and the control for main control board 701 provides foundation；
It is provided with LED illumination lamp group 704 in service station nacelle shell 101, for lighting under the control of main control board 701, provides suitably illumination to carry out graphical analysis for camera head 703.
Mechanical arm 801 and mechanical arm driving box 802 are fixedly mounted in service station nacelle shell 101, mechanical arm driving box 802 is under the control of main control board 701, control mechanical arm 801 extracts battery block in principal and subordinate's unmanned plane or other accessory is replaced, accessory under changing is placed into space, servicing area be charged, the accessory of charging complete is transferred to space, spare part district；
It is provided with storage tank 803 in service station nacelle shell 101, is made up of with space, servicing area space, spare part district, place the accessory just taken off respectively and be complete the accessory of charging；The accessory just taken off needs to connect charger in space, servicing area and is charged supply, and the accessory being complete charging should be transferred out space, servicing area, is placed into space, spare part district standby.
Ask for an interview Fig. 4, when unmanned plane is in electric power deficiency, search out nearest relaying transducing service station according to the geographical position relaying transducing service station in storing map, then fly to relay near transducing service station, send, to relaying transducing service station, maintenance application of entering the station.Relaying transducing service station after receiving the request, first checks for current wind-force, rainfall, humidity sensor, it may be judged whether possessing conditions of service, if overrun, as wind-force is excessive, or rainfall is excessive, then refuse request, otherwise respond request, open vault hatch door 102.
After vault hatch door 102 is opened, infrared detection device detecting whether to fully open and put in place, if otherwise showing equipment fault, relaying transducing service station sends faulting instruction, refuses to service further for unmanned plane.If it is rise hoistable platform, prepare for unmanned plane landing.
Unmanned plane utilizes the video camera carried to shoot hoistable platform 601, carries out template matching according to the setting circle in image and location line, to calibrate self flight attitude, and the center of circle landing of centring setting circle 6012 as far as possible.After landing, unmanned plane notice relaying transducing service station completes landing, and enters resting state.
Hoistable platform 601 is fallen in relaying transducing service station, after dropping to the end, closes vault hatch door 102, to completely cut off the interference of external environment condition light and wind-force interference.Then opened LED illumination lamp group 704 by main control board 701, to cabin, service station intraoral illumination, facilitate the camera operation in cabin.
Main control board 701 continues on binocular stereo vision video camera 703, shoots position and the module of unmanned plane in cabin, in order to carry out image recognition and detection.
When image recognition differentiates that unmanned plane position meets operating condition, main control board 701 starts both sides rocking arm, gradually rises and touch unmanned plane, under the power effect on both sides, righting unmanned plane, and slowly clamp, fixing unmanned plane, then rocking arm keeps self-locking state.
Main control board 701 continues starter motor mechanical arm 801, and manipulation mechanical arm 801 moves to unmanned plane front.If battery block to be changed, then, under the measurement of binocular stereo vision video camera 703, the gripper of manipulation mechanical arm 801 front end moves near battery block, clamps battery block and plucks out, until battery block is completely withdrawn from unmanned plane body.
After binocular stereo vision video camera 703 finds that battery block has been completely withdrawn from, main control board 701 controls mechanical arm 801 and moves to servicing area, being put by battery block as in the charging lattice of servicing area, then mechanical arm 801 releases servicing area, enters spare part district, take out the most charged battery block, return to unmanned plane front, under the measurement of binocular stereo vision video camera 703, progressively insert in battery space, until unmanned plane powers on, unmanned plane power supply indicator lights.After binocular stereo vision video camera 703 measurement is bright to unmanned plane power supply indicator, main control board 701 controls gripper and presses the start button of unmanned plane, unmanned plane is made to start, and recover original duty voluntarily, then mechanical arm 801 is return in situ, and fall rocking arm fixed support and make its homing, unclamp unmanned plane.
Find after unmanned plane self-inspection to be complete supply, self duty is normal, then send the request of leaving, after relaying transducing service station receives request, it is first shut off illuminator 704, then opens vault hatch door 102, detect after fully opening, rising hoistable platform 601, after rise puts in place completely, notice unmanned plane may exit off.Unmanned plane receives after leaving notice and flies away voluntarily, continues executing with the task of interruption.
After unmanned plane is seen in relaying transducing service station off, fall hoistable platform 601, close vault hatch door 102, wait that the maintenance task of servicing area completes.Until after battery block is fully charged, master control circuit board 701 is again turned on illuminator 704, under the measurement of binocular stereo vision video camera 703 assists, control mechanical arm 801 and take out battery block, and battery block transfer is placed in spare part district battery compartment standby.
After all action completes, mechanical arm 801 homing, close illuminator 704, close binocular stereo vision video camera 703, and enter sleep for electricity saving state, until the wireless telecommunications request of unmanned plane arrives next time, the most again wake up self up.During dormancy, solar panel 301 continues to charge to accumulator 302, to recover the energy supply of self.After accumulator 302 is full of, under solar charging/discharging controller 303 acts on, disconnect charging circuit.The discharge circuit of accumulator 302 is connected with master control circuit board 701, persistently keep power supply, until electrical source consumption is to certain level, when accumulator 302 voltage drops to below threshold voltage, charging circuit connected by solar charging/discharging controller 303, solar panel 301 be that accumulator 302 is recharged.
A clipping scheme as the present invention, parts each in cabin can be done suitably reduction, such as under conditions of having only to charge at a slow speed, the configuration such as mechanical arm 801, binocular stereo vision video camera 703 and rocking arm is dispensed with, after unmanned plane lands, the Wireless charging coil under hoistable platform 601 directly unmanned plane is carried out wireless charging.Rising hoistable platform after charging electricity, unmanned plane flies away from voluntarily, and then platform is fallen in relaying transducing service station, closes hatch door, solar panel recover self accumulator electric-quantity.
An expansion scheme as the present invention, relaying transducing service station volume can be increased, to use dual-host backup scheme, the i.e. half in relaying transducing service station is available for unmanned plane and enters maintenance, second half has then laid in a complete unmanned plane, after solving task switching by wireless telecommunications between two unmanned planes, the unmanned plane of deposit rises to fly away and continues executing with task, and safeguard that unmanned plane recovers at a slow speed its cells electricity in staying relaying transducing service station, oneself fly to or transferred to reserve zone by mechanical arm after being full of, replacing for complete machine next time and prepare.
Relaying transducing service station is except being replaced the battery block of unmanned plane, it is also possible to other accessory of unmanned plane is replaced or is safeguarded.The storage card of such as unmanned plane is to store the picture that photographs of unmanned plane video camera, in distance task, if it occur that storage card fault or write the problems such as full, can enter relaying transducing service station, the mechanical arm in relaying transducing service station be replaced storage card.
The in like manner detachable parts of other unmanned plane, after the image recognition software of upgrading binocular stereo vision video camera, the most controllable mechanical arm and gripper are replaced.
If using multiple battery compartment structures in spare part district and servicing area, then can also improve the continuous supply capacity in relaying transducing service station.The most charged battery block can feed for sudden unmanned plane continuously, and the battery block under changing then is inserted servicing area battery compartment and charged one by one, recovers electricity.Now the continuous service ability in relaying transducing service station was determined by battery block number and single battery charging interval.
If using large space or external-hanging structure in spare part district and servicing area, then under conditions of mechanical hand load capacity is enough, it is also possible to provide the load relay transfer service of unmanned plane.
The main control board software in relaying transducing service station uses remote upgrade method, or wireless connections upgrade method.So can make unmanned plane kind and model real-time update that relaying transducing service station can service.
The present invention may be installed on the unattended outdoor platforms such as electric lines of force steel tower, the full-automatic charging in the case of unmanned nurse and fast quick change electricity relay services is provided for rotor wing unmanned aerial vehicle, and solve the energy self-recoverage supply of self, distance full-automation for rotor wing unmanned aerial vehicle services, and load relay relay services provides solution.
nullAlthough this specification more employs service station nacelle shell 101、Vault hatch door 102、Shell location pattern in 2 D code 103、Sensor cluster 201、Solar panel 301、Accumulator 302、Solar charging/discharging controller 303、Electric pushrod assembly 401、Flexible push rod、Drive box、Infrared detection device、Electric bracket assembly 501、Rocking arm、Fork arm、Control box、Force feedback sensor、Hoistable platform 601、Centralized positioning circle 6012、Edge setting circle 6013、Inside casing location line 6014、Center auxiliary positioning circle 6015、Cross cut-off rule 6016、Straight line lifting motor assembly 602、Main control board 701、Camera head 703、Illuminator 704、Mechanical arm 801、Mechanical arm driving box 802、Storage tank 803 term such as grade，But it is not precluded from using the probability of other terms.Using these terms to be only used to more easily to describe the essence of the present invention, it is all contrary with spirit of the present invention for being construed as any additional restriction.
It should be appreciated that the part that this specification does not elaborates belongs to prior art.
Should be understood that; the above-mentioned description for preferred embodiment is the most detailed; therefore the restriction to scope of patent protection of the present invention can not be considered; those of ordinary skill in the art is under the enlightenment of the present invention; under the ambit protected without departing from the claims in the present invention; can also make replacement or deformation, within each falling within protection scope of the present invention, the scope that is claimed of the present invention should be as the criterion with claims.
Claims (11)
1. a rotor wing unmanned aerial vehicle relaying transducing service station, it is characterised in that: include service station nacelle shell
(101), sensor cluster (201), solar panel (301), accumulator (302), solar energy charge and discharge
Electric controller (303), electric pushrod assembly (401), electric bracket assembly (501), hoistable platform (601),
Straight line lifting motor assembly (602), main control board (701)；
It is outside that described sensor cluster (201) is arranged on described service station nacelle shell (101), for ring
Border data detect；
Described solar panel (301) is arranged on nacelle shell (101) outer surface of described service station；
Described service station nacelle shell (101) top is configured with and is controlled by described electric pushrod assembly (401)
Capable of opening and closing vault hatch door (102)；
Described electric bracket assembly (501) drops to after on described hoistable platform (601) for unmanned plane, right
Unmanned plane carries out righting, fine position and fastening；
Described hoistable platform (601) can be arranged on institute up and down by described straight line lifting motor assembly (602)
Stating on nacelle shell (101) inner bottom surface of service station, described main control board (701) is by fixing supporting plate (702)
It is fixedly mounted on nacelle shell (101) inner bottom surface of described service station, described accumulator (302), solar energy
Charging-discharging controller (303) is all fixedly mounted on nacelle shell (101) inner bottom surface of described service station；
Described solar panel (301), solar charging/discharging controller (303), accumulator (302), master
Control circuit board (701) is connected by wire；Described main control board (701) respectively with described sensor cluster
(201), electric pushrod assembly (401), electric bracket assembly (501), straight line lifting motor assembly (602)
Connect, for providing adaptive electric power to said modules, and control said modules work.
Rotor wing unmanned aerial vehicle the most according to claim 1 relaying transducing service station, it is characterised in that: described
It is provided with shell location pattern in 2 D code (103) on service station nacelle shell (101), lands for unmanned plane
Time, carry out nacelle orientation, service station according to described shell location pattern in 2 D code (103) and understand.
Rotor wing unmanned aerial vehicle the most according to claim 1 relaying transducing service station, it is characterised in that: described
Go to the bottom and be provided with shell auxiliary positioning line (104), for unmanned plane on outer in service station nacelle shell (101)
Location is accurately differentiated when landing.
Rotor wing unmanned aerial vehicle the most according to claim 1 relaying transducing service station, it is characterised in that: described
Sensor cluster (201) includes temperature sensor, humidity sensor, wind sensor and light sensor.
Rotor wing unmanned aerial vehicle the most according to claim 1 relaying transducing service station, it is characterised in that: described
Electric pushrod assembly (401) includes comprising flexible push rod, driving box and infrared detection device, and described stretching pushes away
Bar one end and described driving box, the other end are connected to described vault hatch door (102), at described governor circuit
Under the control of plate (701), electric opening and the described vault hatch door (102) of closedown；Described infrared detection device
It is connected with described driving box, is used for checking that described vault hatch door (102) is the most fully open and fully closed.
Rotor wing unmanned aerial vehicle the most according to claim 1 relaying transducing service station, it is characterised in that: described
Electric bracket assembly (501) includes rocking arm, fork arm, control box, force feedback sensor；Described one end
Be connected with described control box, the other end is connected with described control box, and after unmanned plane lands, rocking arm rotates, band
Dynamic described fork arm contact unmanned plane, carries out righting, fine position and fastening to unmanned plane；Described feedback transducer
It is arranged on described fork arm, is connected with described control box, for controlling the dynamics of described fork arm contact unmanned plane,
Avoid firmly macrolesion unmanned plane.
Rotor wing unmanned aerial vehicle the most according to claim 1 relaying transducing service station, it is characterised in that: described
The upper drafting of the landing platform (6011) of hoistable platform (601) has centralized positioning circle (6012), edge setting circle
(6013), inside casing positions line (6014), center auxiliary positioning justifies (6015) and cross cut-off rule (6016),
Foundation is provided for the vision localization for unmanned plane；The bottom of described hoistable platform (601) be fixedly installed with or without
Line charge coil, for carrying out the most contactless charging to unmanned plane battery.
Rotor wing unmanned aerial vehicle the most according to claim 1 relaying transducing service station, it is characterised in that: described
Straight line lifting motor assembly (602) comprises linear electric motors and electronic axle, is connected to described hoistable platform (601)
On, by driving the flexible of electronic axle so that hoistable platform can rise or fall, for when unmanned plane lands
Rise described hoistable platform (601) and carry it, drop back in cabin, service station at supply process stage, it is to avoid damage,
Again rise after having fed, make unmanned function fly away from voluntarily.
Rotor wing unmanned aerial vehicle the most according to claim 1 relaying transducing service station, it is characterised in that: described
It is additionally provided with camera head (703), mechanical arm (801) and mechanical arm in service station nacelle shell (101) to drive
Dynamic case (802)；Described main control board (701) drives with described camera head (703) and mechanical arm respectively
Case (802) connects, and for providing adaptive electric power to said modules, and controls said modules work；
Described camera head (703) is fixedly mounted in described service station nacelle shell (101), for nothing
Accessory on man-machine position and unmanned plane, and the motion to described mechanical arm (801) carries out real-time tracking
And image recognition, the control for described main control board (701) provides foundation；
Described mechanical arm (801) and mechanical arm driving box (802) are fixedly mounted on described service station nacelle shell
(101), in, described mechanical arm driving box (802), under the control of described main control board (701), controls
Make described mechanical arm (801) and in principal and subordinate's unmanned plane, extract battery block or other accessory is replaced, to replacing
Under accessory be placed into space, servicing area and be charged, the accessory of charging complete is transferred to space, spare part district.
Rotor wing unmanned aerial vehicle the most according to claim 1 relaying transducing service station, it is characterised in that: described
Storage tank (803) it is additionally provided with, by space, spare part district and space, servicing area in service station nacelle shell (101)
Composition, places the accessory just taken off respectively and is complete the accessory of charging；The accessory just taken off needs safeguarding
Space, district connects charger and is charged supply, and the accessory being complete charging should be transferred out space, servicing area, put
Put space, spare part district standby.
11. relay transducing service station according to the rotor wing unmanned aerial vehicle described in claim 1-10 any one, and it is special
Levy and be: in described service station nacelle shell (101), be additionally provided with illuminator (704), for described
Light under the control of main control board (701), provide suitably illumination to enter for described camera head (703)
Row graphical analysis.
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| CN201610287477.1A CN105951614B (en) | 2016-05-03 | 2016-05-03 | A kind of rotor wing unmanned aerial vehicle relaying transducing service station |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610287477.1A CN105951614B (en) | 2016-05-03 | 2016-05-03 | A kind of rotor wing unmanned aerial vehicle relaying transducing service station |
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| Publication Number | Publication Date |
|---|---|
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| CN105951614B CN105951614B (en) | 2017-11-10 |
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