CN105951614B - A kind of rotor wing unmanned aerial vehicle relaying transducing service station - Google Patents
A kind of rotor wing unmanned aerial vehicle relaying transducing service station Download PDFInfo
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- CN105951614B CN105951614B CN201610287477.1A CN201610287477A CN105951614B CN 105951614 B CN105951614 B CN 105951614B CN 201610287477 A CN201610287477 A CN 201610287477A CN 105951614 B CN105951614 B CN 105951614B
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- unmanned plane
- transducing
- aerial vehicle
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- 230000002463 transducing effect Effects 0.000 title claims abstract description 40
- 238000007599 discharging Methods 0.000 claims abstract description 14
- 230000005611 electricity Effects 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims description 9
- 238000005286 illumination Methods 0.000 claims description 8
- 230000006978 adaptation Effects 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 5
- 229910000831 Steel Inorganic materials 0.000 abstract description 3
- 239000010959 steel Substances 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000284 extract 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
- 210000000078 claw Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000005059 dormancy Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000007958 sleep Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 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)
- Power Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of rotor wing unmanned aerial vehicle relaying transducing service station, including service station nacelle shell, sensor cluster, solar panel, battery, solar charging discharging controller, electric pushrod component, electric bracket component, hoistable platform, straight line lifting motor component, main control board, camera device, mechanical arm, mechanical arm driving box；The present invention can be arranged on the unattended outdoor platforms such as power line steel tower, full-automatic charging and fast quick change electricity relay services in the case of unmanned nurse are provided for rotor wing unmanned aerial vehicle, and solves the energy self- recoverage supply of itself, solution method is provided for the full-automatic service of long range of rotor wing unmanned aerial vehicle, and load relay relay services.
Description
Technical field
The invention belongs to rotor wing unmanned aerial vehicle technical field, more particularly to a kind of relaying transducing service of rotor wing unmanned aerial vehicle
Stand.
Background technology
It is existing to use battery powered rotor wing unmanned aerial vehicle shorter due to electricity limitation, flight time, it is difficult to complete over long distances
With the task under the conditions of long-time.Even if increase battery capacity, but due to when the increase of loading capacity can not bring flight
Between extension.It is this to use limitation so that current rotor wing unmanned aerial vehicle need to rely on the operation for flying control hand personnel and dimension when in use
Shield, and fly the higher cost of labor of control hand and also cause the use cost of rotor wing unmanned aerial vehicle to increase.With machine vision rotor without
Application in man-machine, and navigation accuracy, automatic tracking technology and automatic obstacle-avoiding step up, and rotor wing unmanned aerial vehicle is in fact
Substantially possess the technical conditions of automation flight execution task, as long as supply of electric power difficult point can be solved, it is possible to widen significantly
The purposes of rotor wing unmanned aerial vehicle, not only reduces the labor intensity of user, and use cost can be greatly reduced, by automatic
Change planning tasks, the long-time manual intervention for flying control hand can be eliminated the reliance on completely.
In terms of the correlation technique in current existing field is only concentrated mainly on the wireless charging at a slow speed of unmanned plane, some uses
The solar battery panel of quick-replaceable battery to(for) unmanned plane or changes storage card as supply of electric power source
Piece, and following refuelling battery etc. are helpless.
The content of the invention
In order to solve the above-mentioned technical problem, can the invention provides a kind of rotor wing unmanned aerial vehicle relay services transducing service station
Relay services during for rotor wing unmanned aerial vehicle field work in the case of electric power deficiency, for unmanned plane provide safety dwelling, it is quick more
Change the accessories such as battery, memory module, recover the service of former interruption of work so that unmanned plane can as train stops website,
It is of short duration fed after continue its work, substantially prolongs working time and the operating distance of unmanned plane, improve unmanned plane
Operating efficiency, 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：Including
Service station nacelle shell, sensor cluster, solar panel, battery, solar charging discharging controller, electric pushrod group
Part, electric bracket component, hoistable platform, straight line lifting motor component, main control board, camera device, mechanical arm, mechanical arm drive
Dynamic case；
The sensor cluster is arranged on the service station nacelle housing exterior, for being detected to environmental data；
The solar panel is arranged on the service station nacelle outer surface of outer cover；
The service station nacelle cover top portion is configured with the capable of opening and closing vault hatch door controlled by the electric pushrod component；
After the electric bracket component is dropped on the hoistable platform for unmanned plane, righting, position are carried out to unmanned plane
Put fine setting and fastening；
The hoistable platform can be arranged on the service station nacelle shell up and down by the straight line lifting motor component
On inner bottom surface, the main control board is fixedly mounted on the service station nacelle shell inner bottom surface by fixed pallet, described
Battery, solar charging discharging controller are fixedly mounted on the service station nacelle shell inner bottom surface；
The camera device is fixedly mounted in the service station nacelle shell, for the position to unmanned plane and unmanned plane
On accessory, and motion to the mechanical arm carries out real-time tracking and image recognition, is the control of the main control board
Foundation is provided；
Mechanical arm and the mechanical arm driving box is fixedly mounted in the service station nacelle shell, the mechanical arm driving
Case controls that the mechanical arm extracts battery block from principal and subordinate's unmanned plane or other accessories enter under the control of the main control board
Row is changed, and being placed into servicing area space to the accessory under changing charges, and the accessory of charging complete is transferred into spare part area sky
Between；
The solar panel（301）, solar charging discharging controller（303）, battery（302）, main control board
（701）Connected by wire；The main control board（701）Respectively with the sensor cluster（201）, electric pushrod component
（401）, electric bracket component（501）, straight line lifting motor component（602）Connection, for providing adaptation electric power to said modules,
And said modules are controlled to work.
Preferably, being provided with shell positioning pattern in 2 D code on the service station nacelle shell, land for unmanned plane
When, pattern in 2 D code is positioned according to the shell and carries out the deciphering of service station nacelle orientation.
Preferably, shell auxiliary positioning line is provided with the outer of the service station nacelle shell bottom, for unmanned plane
Accurately differentiate positioning in landing.
Preferably, the sensor cluster includes temperature sensor, humidity sensor, wind sensor and light level
Device.
Preferably, the electric pushrod component is included comprising stretches push rod, driving box and infrared detection device, it is described to stretch
Contracting push rod one end is connected to the vault hatch door with driving box, the other end, under the control of the main control board,
Electric opening and the closing vault hatch door；The infrared detection device is connected with the driving box, for checking the vault
Whether hatch door is fully open and fully closed.
Preferably, the electric bracket component includes rocking arm, fork arm, control box, force feedback sensor；The rocking arm one
End is connected with the control box, the other end is connected with the control box, and after unmanned plane lands, rocking arm rotates, and drives the fork
Bar contacts unmanned plane, and righting, fine position and fastening are carried out to unmanned plane；The feedback transducer is arranged on the fork arm,
Be connected with the control box, for controlling the dynamics of fork arm contact unmanned plane, avoid firmly macrolesion unmanned plane.
Preferably, being drawn on the landing platform of the hoistable platform has centralized positioning circle, the positioning of edge setting circle, inside casing
Line, center auxiliary positioning circle and cross cut-off rule, for providing foundation for the vision positioning of unmanned plane；The hoistable platform
Bottom is fixedly installed Wireless charging coil, for carrying out contactless charging at a slow speed to unmanned machine battery.
Preferably, the straight line lifting motor component includes linear electric motors and electronic axle, the hoistable platform is connected to
On, by driving the flexible of electronic axle so that hoistable platform can rise or fall, for rising the liter when unmanned plane lands
Drop platform bearer it, supply process stage drop back in the cabin of service station, avoid damaging, risen again after the completion of supply, make nobody
Function is voluntarily flown away from.
Preferably, storage tank is additionally provided with the service station nacelle shell, by spare part area space and servicing area space
Composition, the accessory just removed is placed respectively and has completed the accessory of charging；The accessory just removed needs to connect in servicing area space
Connect charger and carry out charging supply, servicing area space should be transferred out of by having completed the accessory of charging, and it is standby to be placed into spare part area space
With.
Preferably, lighting device is additionally provided with the service station nacelle shell, in the main control board
Lighted under control, provide suitable illumination for the camera device to carry out graphical analysis.
The present invention is recovered using overcoating solar panel and charging-discharging controller as supply of electric power and self energy
Source；The arch automatic switch hatch door controlled using electric pushrod, the hatch door as preventing water leakage are passed in and out for unmanned plane；Using shell
On logotype for unmanned plane carry out image recognition positioning, accurately to drop to center in cabin；Using air brushing on shell
2 D code information, embedded orientation, the information such as height of itself, understood for unmanned plane using video camera shooting and relay transducing service
Stand azimuth information, to adjust inbound angle；Rainfall, illumination, temperature, wind are carried out using the sensor group of integrated installation on shell
The data acquisition of power, humidity, for whether opened door service provides basis for estimation；Land and stop for unmanned plane using hoistable platform
Stay, and the positioning when depicting positioning figure on platform and being used for unmanned plane landing is used, and wireless charging is integrated with platform
Coil is available for use of charging at a slow speed；Employ rocking arm fixed support and be used for positioning and fixation after unmanned plane lands；Using shooting
Device（Binocular stereo vision video camera）Carry out identification and the manipulator motion position of the accessories such as unmanned plane battery module, memory module
The Recognition feedback put；Employ crawl and replacing that multivariant mechanical arm carries out accessory module；Employ spare part area space
Energy is carried out to accessory with servicing area space to recover to manage with stacking；Employ a set of master control for being provided with built-in system software
Circuit board processed is uniformly controlled to above-mentioned various functions, and carries out radio communication with unmanned plane, and nothing is waken up after accessory is changed
The task that man-machine recovery its original is interrupted.
Compared with prior art, the present invention can be arranged on the unattended outdoor platforms such as power line steel tower, be rotor
Unmanned plane provides the full-automatic charging and fast quick change electricity relay services in the case of unmanned nurse, and solves the energy of itself from extensive
Multiple supply problem, solution method is provided for the full-automatic service of long range of rotor wing unmanned aerial vehicle, power line is can be widely used for and patrols
The field such as inspection, agriculture unmanned plane sprinkling automated job.The present invention adds on the basis of charging and changes electricity and replacing memory card
Function, add machine vision function and mechanical arm, be turned into for the unmanned plane under the conditions of unattended is fast automatic over long distances
Industry provides condition.
Brief description of the drawings
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.
Embodiment
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 is to this hair
It is bright to be described in further detail, it will be appreciated that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
See Fig. 1, Fig. 2 and Fig. 3, a kind of rotor wing unmanned aerial vehicle relaying transducing service station provided by the invention, it is fixedly mounted on
On outdoor platform；Including service station nacelle shell 101, sensor cluster 201, solar panel 301, battery 302, the sun
Can charging-discharging controller 303, electric pushrod component 401, electric bracket component 501, hoistable platform 601, straight line lifting motor group
Part 602, main control board 701, camera device 703, mechanical arm 801, mechanical arm driving box 802；Solar panel 301, too
Positive energy charging-discharging controller 303, battery 302, main control board 701 are connected by wire；Main control board 701 respectively with biography
Sensor component 201, electric pushrod component 401, electric bracket component 501, straight line lifting motor component 602, camera device 703,
Lighting device 704, mechanical arm driving box 802 connect, and for providing adaptation electric power to said modules, and control said modules work
Make.
Shell positioning pattern in 2 D code 103 is provided with service station nacelle shell 101, when landing for unmanned plane, according to
Shell positioning pattern in 2 D code 103 carries out service station nacelle orientation and understood.The bottom of service station nacelle shell 101 is provided with outer
Shell auxiliary positioning line 104, accurately differentiate positioning in landing for unmanned plane.
Sensor cluster 201 includes temperature sensor, humidity sensor, wind sensor and light sensor, is arranged on
Outside service station nacelle shell 101, for being detected to environmental data.
Solar panel 301 is arranged on the outer surface of service station nacelle shell 101；Covered using multiaspect, to ensure work(
Rate is enough, and whether vault hatch door 102 is covered by power decision.
Electric pushrod component 401 is included comprising stretches push rod, driving box and infrared detection device, and stretches push rod one end is with driving
Dynamic box, the other end are connected to vault hatch door 102, under the control of main control board 701, electric opening and close vault cabin
Door 102；Infrared detection device is connected with driving box, for checking whether vault hatch door 102 is fully open and fully closed.
Electric bracket component 501 includes rocking arm, fork arm, control box, force feedback sensor；One end connects with control box
Connect, the connection of the other end and control box, 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 control box, for controlling fork arm to contact nobody
The dynamics of machine, avoid firmly macrolesion unmanned plane.
Hoistable platform 601 can be arranged on bottom in service station nacelle shell 101 up and down by straight line lifting motor component 602
On face, main control board 701 is fixedly mounted on the inner bottom surface of service station nacelle shell 101 by fixed pallet 702, battery
302nd, solar charging discharging controller 303 is fixedly mounted on the inner bottom surface of service station nacelle shell 101；
Being drawn on the landing platform 6011 of hoistable platform 601 has centralized positioning circle 6012, edge setting circle 6013, interior confines
Bit line 6014, center auxiliary positioning circle 6015 and cross cut-off rule 6016, for providing foundation for the vision positioning of unmanned plane；
The bottom of hoistable platform 601 is fixedly installed Wireless charging coil, for carrying out contactless charging at a slow speed to unmanned machine battery.
Straight line lifting motor component 602 includes linear electric motors and electronic axle, is connected on hoistable platform 601, passes through driving
Electronic axle is stretched so that hoistable platform can rise or fall, and be carried for rising hoistable platform 601 when unmanned plane lands
It, drops back in the cabin of service station in supply process stage, avoids damaging, risen again after the completion of supply, unmanned function is voluntarily flown
From.
Camera device 703 uses binocular stereo vision video camera, is fixedly mounted in service station nacelle shell 101, is used for
To the accessory on the position and unmanned plane of unmanned plane, and the motion progress real-time tracking to mechanical arm 801 and image recognition, it is
The control of main control board 701 provides foundation；
LED illumination lamp group 704 is provided with service station nacelle shell 101, for the point under the control of main control board 701
It is bright, suitable illumination is provided for camera device 703 to carry out graphical analysis.
Mechanical arm 801 and mechanical arm driving box 802 are fixedly mounted in service station nacelle shell 101, mechanical arm driving box
802 under the control of main control board 701, and control machinery arm 801 extracts battery block from principal and subordinate's unmanned plane or other accessories enter
Row is changed, and being placed into servicing area space to the accessory under changing charges, and the accessory of charging complete is transferred into spare part area sky
Between；
Storage tank 803 is provided with service station nacelle shell 101, is made up of spare part area space and servicing area space, respectively
Place the accessory just removed and complete the accessory of charging；The accessory just removed needs to enter in servicing area space connection charger
Row charging supply, servicing area space should be transferred out of by having completed the accessory of charging, and it is standby to be placed into spare part area space.
See Fig. 4, when unmanned plane is in electric power deficiency, sought according to the geographical position that transducing service station is relayed in storing map
Nearest relaying transducing service station is found, is then flown near relaying transducing service station, sends and enters the station to relaying transducing service station
Safeguard application.Relay transducing service station after receiving the request, first check for current wind-force, rainfall, humidity sensor, judgement is
No to possess conditions of service, if overrun, as wind-force is excessive, or rainfall is excessive, then refusal request, and otherwise respond request, beats
Open vault hatch door 102.
After vault hatch door 102 is opened, detect whether to fully open in place by infrared detection device, if otherwise showing equipment
Failure, relaying transducing service station send faulting instruction, refuse further to service for unmanned plane.If it is hoistable platform is risen,
Prepared for unmanned plane landing.
Unmanned plane is shot using the video camera carried to hoistable platform 601, according to the setting circle in image and positioning
Line carries out template matches, to calibrate itself flight attitude, the center of circle landing of centring setting circle 6012 as far as possible.After landing nobody
Landing is completed in machine notice relaying transducing service station, and enters resting state.
Hoistable platform 601 is fallen in relaying transducing service station, after bottom is dropped to, vault hatch door 102 is closed, to completely cut off external rings
Environmental light disturbs and wind-force interference.Then LED illumination lamp group 704 is opened by main control board 701, to service station cabin intraoral illumination,
Facilitate the camera operation in cabin.
Main control board 701 continues on binocular stereo vision video camera 703, and the position and module of unmanned plane in cabin are entered
Row shooting, to carry out image recognition and detection.
When image recognition, which differentiates, meets operating condition to unmanned plane position, main control board 701 starts both sides rocking arm, by
Edge up and touched unmanned plane, under the power effect on both sides, righting unmanned plane, and slowly clamp, unmanned plane is fixed, then
Rocking arm keeps self-locking state.
Main control board 701 continues to start mechanical arm 801, and manipulation mechanical arm 801 is moved in front of unmanned plane.If will
Battery block is changed, then under the measurement of binocular stereo vision video camera 703, the gripper of manipulation mechanical arm 801 front end moves to
Near battery block, clamp battery block and pluck out, until battery block is completely withdrawn from out of unmanned plane body.
After binocular stereo vision video camera 703 finds that battery block has been completely withdrawn from, the control machinery of main control board 701
Arm 801 moves to servicing area, and battery block is put in the charging lattice such as servicing area, and then mechanical arm 801 releases servicing area, into standby
Part area, charged battery block is taken out, returned in front of unmanned plane, under the measurement of binocular stereo vision video camera 703,
Progressively insert in battery space, until electric on unmanned plane, unmanned plane power supply indicator lights.When binocular stereo vision video camera
703 measure unmanned plane power supply indicator it is bright after, the control machine machinery claw of main control board 701 presses the start button of unmanned plane, makes
Unmanned plane starts, and voluntarily recovers original working condition, and then mechanical arm 801 retracts original position, and falls rocking arm fixed support
Make its homing, unclamp unmanned plane.
Find to have completed to feed after unmanned plane self-test, itself working condition is normal, then sends and leave request, relays transducing
After service station receives request, lighting device 704 is first shut off, then opens vault hatch door 102, is detected after opening completely, is risen
Lifting platform 601, after complete rise in place, notice unmanned plane may exit off.Unmanned plane receive leave notice after voluntarily fly
Walk, continue executing with the task of interruption.
After unmanned plane is seen in relaying transducing service station off, hoistable platform 601 is fallen, closes vault hatch door 102, waits servicing area
Maintenance task complete.After battery block is fully charged, master control circuit board 701 is again turned on lighting device 704, is stood in binocular
Under the measurement auxiliary of body vision video camera 703, control machinery arm 801 takes out battery block, and battery block transfer is placed into spare part
It is standby in area's battery compartment.
All after the completion of action, the homing of mechanical arm 801, lighting device 704 is closed, close binocular stereo vision shooting
Machine 703, and enter sleep for electricity saving state, until next time, the wireless telecommunications of unmanned plane ask to arrive, and just wake up itself again.
During dormancy, solar panel 301 continues to charge to battery 302, to recover the energy supply of itself.When battery 302
After being full of, under the effect of solar charging discharging controller 303, charging circuit is disconnected.The discharge circuit of battery 302 and main control
Circuit board 701 is connected, and lasting to keep power supply, until electrical source consumption to certain level, the voltage of battery 302 drops to threshold voltage
When following, solar charging discharging controller 303 connects charging circuit, is that battery 302 fills again by solar panel 301
Electricity.
As the clipping scheme of the present invention, appropriate reduction can be done to each part in cabin, such as only needing to fill at a slow speed
Under conditions of electricity, the configuration such as mechanical arm 801, binocular stereo vision video camera 703 and rocking arm is dispensed, and is dropped in unmanned plane
Fall behind, wireless charging is directly carried out to unmanned plane by the Wireless charging coil under hoistable platform 601.Risen after charging electricity
Platform is dropped, and unmanned plane is voluntarily flown away from, and is then relayed transducing service station and is fallen platform, closes hatch door, recovered by solar panel
Itself accumulator electric-quantity.
As the expansion scheme of the present invention, relaying transducing service station volume can be increased, to use dual-host backup side
Case, that is, the half for relaying transducing service station are available for unmanned plane to enter safeguarding, second half has then laid in a complete unmanned plane, and two
After solving task switching by wireless telecommunications between individual unmanned plane, the unmanned plane of deposit, which rises to fly away, continues executing with task, and ties up
Shield unmanned plane, which is stayed in relaying transducing service station, recovers at a slow speed its cells electricity, oneself is flown to or by mechanical arm turn full of rear
Reserve zone is moved on to, replaces and prepares for complete machine next time.
Transducing service station is relayed except can be changed to the battery block of unmanned plane, can also be to other accessories of unmanned plane
Changed or safeguarded.Such as the storage card of unmanned plane is to store the picture that unmanned plane video camera photographs, and is appointed in long range
In business, in the event of storing card failure or writing the problems such as full, relaying transducing service station can be entered, by the machine in relaying transducing service station
Tool arm is replaced to storage card.
The similarly detachable part of other unmanned planes, in the image recognition software of upgrading binocular stereo vision video camera
Afterwards, you can manipulation mechanical arm and gripper are changed.
If using multiple battery compartment structures in spare part area and servicing area, the company in relaying transducing service station can also be improved
Continuous supply capacity.Charged battery block continuously can be fed for sudden unmanned plane, and the battery block under changing
Then insert servicing area battery compartment to charge one by one, recover electricity.The continuous service ability in transducing service station is now relayed by battery block
Number and single battery charging interval determine.
If large space or external-hanging structure are used in spare part area and servicing area, in the bar that manipulator load capacity is enough
Under part, the load relay transfer service of unmanned plane can also be provided.
The main control board software in relaying transducing service station uses remote upgrade method, or wireless connection upgrade method.
The unmanned plane species that relaying transducing service station services and model real-time update can so be enable.
The present invention can be arranged on the unattended outdoor platforms such as power line steel tower, provided nobody for rotor wing unmanned aerial vehicle and seen
Full-automatic charging and fast quick change electricity relay services in the case of shield, and solve itself energy self- recoverage supply, be rotor without
The full-automatic service of man-machine long range, and load relay relay services provide solution method.
Although this specification has more used service station nacelle shell 101, vault hatch door 102, shell positioning Quick Response Code
Pattern 103, sensor cluster 201, solar panel 301, battery 302, solar charging discharging controller 303, electronic push away
Bar assembly 401, stretches push rod, driving box, infrared detection device, electric bracket component 501, rocking arm, fork arm, control box, power are anti-
Infeed sensor device, hoistable platform 601, centralized positioning circle 6012, edge setting circle 6013, inside casing position line 6014, center auxiliary are fixed
Circle of position 6015, cross cut-off rule 6016, straight line lifting motor component 602, main control board 701, camera device 703, illumination dress
The terms such as 704, mechanical arm 801, mechanical arm driving box 802, storage tank 803 are put, but are not precluded from the possibility using other terms
Property.Using these terms just for the sake of more easily describing the essence of the present invention, it is construed as what any one was added
Limitation is all disagreed with spirit of the present invention.
It should be appreciated that the part that this specification does not elaborate belongs to prior art.
It should be appreciated that the above-mentioned description for preferred embodiment is more detailed, therefore can not be considered to this
The limitation of invention patent protection scope, one of ordinary skill in the art are not departing from power of the present invention under the enlightenment of the present invention
Profit is required under protected ambit, can also be made replacement or deformation, be each fallen within protection scope of the present invention, this hair
It is bright scope is claimed to be determined by the appended claims.
Claims (11)
- A kind of 1. rotor wing unmanned aerial vehicle relaying transducing service station, it is characterised in that：Including service station nacelle shell（101）, sensor Component（201）, solar panel（301）, battery（302）, solar charging discharging controller（303）, electric pushrod component （401）, electric bracket component（501）, hoistable platform（601）, straight line lifting motor component（602）, main control board（701）；The sensor cluster（201）Installed in the service station nacelle shell（101）Outside, for being visited to environmental data Survey；The solar panel（301）It is arranged on the service station nacelle shell（101）On outer surface；The service station nacelle shell（101）Top is configured with by the electric pushrod component（401）The capable of opening and closing arch of control Overhead bin door（102）；The electric bracket component（501）The hoistable platform is dropped to for unmanned plane（601）After upper, unmanned plane is helped Just, fine position and fastening；The hoistable platform（601）Pass through the straight line lifting motor component（602）The service station cabin can be arranged on up and down Body case（101）On inner bottom surface, the main control board（701）Pass through fixed pallet（702）It is fixedly mounted on the service station Nacelle shell（101）On inner bottom surface, the battery（302）, solar charging discharging controller（303）It is fixedly mounted on described Service station nacelle shell（101）On inner bottom surface；The solar panel（301）, solar charging discharging controller（303）, battery（302）, main control board（701） Connected by wire；The main control board（701）Respectively with the sensor cluster（201）, electric pushrod component（401）、 Electric bracket component（501）, straight line lifting motor component（602）Connection, for providing adaptation electric power to said modules, and control Said modules work.
- 2. rotor wing unmanned aerial vehicle relaying transducing service station according to claim 1, it is characterised in that：Outside the service station nacelle Shell（101）On be provided with shell positioning pattern in 2 D code（103）, when landing for unmanned plane, two dimension is positioned according to the shell Code pattern（103）Service station nacelle orientation is carried out to understand.
- 3. rotor wing unmanned aerial vehicle relaying transducing service station according to claim 1, it is characterised in that：Outside the service station nacelle Shell（101）Bottom is provided with shell auxiliary positioning line on outer（104）, accurately differentiate positioning in landing for unmanned plane.
- 4. rotor wing unmanned aerial vehicle relaying transducing service station according to claim 1, it is characterised in that：The sensor cluster （201）Including temperature sensor, humidity sensor, wind sensor and light sensor.
- 5. rotor wing unmanned aerial vehicle relaying transducing service station according to claim 1, it is characterised in that：The electric pushrod component （401）Including comprising stretches push rod, driving box and infrared detection device, described stretches push rod one end and the box, another of driving End is connected to the vault hatch door（102）, in the main control board（701）Control under, electric opening and close institute State vault hatch door（102）；The infrared detection device is connected with the driving box, for checking the vault hatch door（102）It is It is no fully open and fully closed.
- 6. rotor wing unmanned aerial vehicle relaying transducing service station according to claim 1, it is characterised in that：The electric bracket component （501）Including rocking arm, fork arm, control box, force feedback sensor；The one end is connected with the control box, the other end with The control box connection, after unmanned plane lands, rocking arm rotates, and drives the fork arm contact unmanned plane, unmanned plane is helped Just, fine position and fastening；The force feedback sensor is arranged on the fork arm, is connected with the control box, for controlling The dynamics of fork arm contact unmanned plane, avoid firmly macrolesion unmanned plane.
- 7. rotor wing unmanned aerial vehicle relaying transducing service station according to claim 1, it is characterised in that：The hoistable platform （601）Landing platform（6011）Upper drafting has centralized positioning circle（6012）, edge setting circle（6013）, inside casing position line （6014）, center auxiliary positioning circle（6015）And cross cut-off rule（6016）, for for the vision positioning of unmanned plane provide according to According to；The hoistable platform（601）Bottom be fixedly installed Wireless charging coil, for unmanned machine battery non-at a slow speed connect Touch is charged.
- 8. rotor wing unmanned aerial vehicle relaying transducing service station according to claim 1, it is characterised in that：The straight line lifting motor Component（602）Comprising linear electric motors and electronic axle, the hoistable platform is connected to（601）On, by driving the flexible of electronic axle, Hoistable platform is risen or fallen, for rising the hoistable platform when unmanned plane lands（601）It is carried, is being fed Process stage is dropped back in the cabin of service station, is avoided damaging, is risen again after the completion of supply, unmanned function is voluntarily flown away from.
- 9. rotor wing unmanned aerial vehicle relaying transducing service station according to claim 1, it is characterised in that：Outside the service station nacelle Shell（101）Inside it is additionally provided with camera device（703）, mechanical arm（801）With mechanical arm driving box（802）；The main control board （701）Respectively with the camera device（703）With mechanical arm driving box（802）Connection, for providing adaptation electricity to said modules Power, and control said modules to work；The camera device（703）It is fixedly mounted on the service station nacelle shell（101）It is interior, for the position to unmanned plane and Accessory on unmanned plane, and to the mechanical arm（801）Motion carry out real-time tracking and image recognition, be master control electricity Road plate（701）Control provide foundation；The mechanical arm（801）With mechanical arm driving box（802）It is fixedly mounted on the service station nacelle shell（101）It is interior, institute State mechanical arm driving box（802）In the main control board（701）Control under, control the mechanical arm（801）From principal and subordinate without Man-machine middle extraction battery block or other accessories are changed, and being placed into servicing area space to the accessory under changing charges, will The accessory of charging complete is transferred to spare part area space.
- 10. rotor wing unmanned aerial vehicle relaying transducing service station according to claim 1, it is characterised in that：The service station nacelle Shell（101）Inside it is additionally provided with storage tank（803）, it is made up of spare part area space and servicing area space, places what is just removed respectively Accessory and the accessory for having completed charging；The accessory just removed needs to carry out charging supply in servicing area space connection charger, Servicing area space should be transferred out of by having completed the accessory of charging, and it is standby to be placed into spare part area space.
- 11. the rotor wing unmanned aerial vehicle relaying transducing service station according to claim 1-10 any one, it is characterised in that：It is described Service station nacelle shell（101）Inside it is additionally provided with lighting device（704）, in the main control board（701）Control under Light, be the camera device（703）Suitable illumination is provided to carry out graphical analysis.
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