CN107554807A - Unmanned plane and base station docking system and docking calculation - Google Patents
Unmanned plane and base station docking system and docking calculation Download PDFInfo
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- CN107554807A CN107554807A CN201710799770.0A CN201710799770A CN107554807A CN 107554807 A CN107554807 A CN 107554807A CN 201710799770 A CN201710799770 A CN 201710799770A CN 107554807 A CN107554807 A CN 107554807A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The invention discloses a kind of unmanned plane and base station docking system and docking calculation, unmanned plane docks unit including first with base station docking system and docks unit with second, and the first docking unit docks unit with second can relative separation or docking；First docking unit includes first interface, second docking unit includes second interface and the seizure mechanism for capturing the first docking unit, the seizure mechanism can be translated and rotated relative to the second interface, and the center of rotation that its translation direction rotates is parallel.Unmanned plane and the base station docking system of the present invention can realize mechanical splice between unmanned plane and base station with electrically docking, docking calculation based on the docking system can realize that the first docking unit to be floated with unmanned plane accurately can dock unit with second on base station and achieve a butt joint, reliable and stable.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to a kind of unmanned plane and base station docking system and docking calculation.
Background technology
Multi-rotor unmanned aerial vehicle on current market is required to change battery manually, can not realize the automatic charging of unmanned plane with
Automatically control, based on this, it is necessary to design a kind of base station for being used for unmanned plane and data being charged and/or transmitted to unmanned plane
Between the docking system and docking calculation that dock.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides one kind and is used for unmanned plane and base station
Between realize the unmanned plane of automatic butt and base station docking system and docking calculation.
Technical scheme：To achieve the above object, unmanned plane of the invention docks unit with base station docking system including first
Unit is docked with second, the first docking unit docks unit with second can relative separation or docking；First docking unit bag
First interface is included, the second docking unit includes second interface and the seizure mechanism for capturing the first docking unit, described to catch
Catching mechanism can translate and rotate relative to the second interface, and the center of rotation that its translation direction rotates is parallel.
Further, in addition to auxiliary docking system, the auxiliary docking system include multiple independences by scattering device
Dispersal unit composition dispersal unit group and individually interactive separate unit can be carried out with each dispersal unit, it is described scattered
First is arranged on one of in both unit group and separate unit to dock on unit, another is arranged on the second docking unit
On.
Further, the dispersal unit rectangular array distribution.
Further, the dispersal unit circumference array is distributed on multiple concentric circles, when dispersal unit group is arranged on the
When in a pair of order members, first interface is located at the home position of concentric circles, when dispersal unit group is arranged on the second docking unit
When, second interface is located at the home position of concentric circles.
Further, the dispersal unit is readable code fetch, and each readable code fetch differs, and the separate unit is reading
Take camera.
Further, one of them in both the dispersal unit and separate unit is signal projector, and another is letter
Number receiver.
Further, the signal projector is infrared lamp, and the signal receiver is infrared sensitive element.
Further, the first docking unit includes the companion flange of ring-type；The seizure mechanism includes catching support,
On the seizure support circumference array be provided with least three can along catch support radial direction synchronous translational claw, the claw
Including the portion of being slidably matched, along the axially extending axially-extending portion for catching support and along catching extending radially outwardly for support
Radial extension；The motion of claw is driven by driving arm, and the driving arm is under the promotion of the active bracket described
The axial direction lifting of support is caught, and sets and has elastic component between driving arm and active bracket；Active bracket, which is provided with, to be used for
Push down the flanging flange of the companion flange；Active bracket is driven by the drive device being arranged on the seizure support.
Further, on lifting support, the seizure support can be relative to the liter for seizure mechanism integral installation
Descending branch frame rotates, and the lifting support can lift relative to the second interface.
Docking calculation based on above-mentioned unmanned plane Yu base station docking system, effect of the first docking unit in unmanned plane
Under from base station second docking unit with a certain distance from height on carry out random search, when some dispersal unit with
The separate unit produces interactive, then can primarily determine that the relative position information between unmanned plane and base station, control system according to
Relative position information carries out position compensation, and according to the interaction during position compensation between different dispersal units and separate unit
Both relative position is constantly determined, until the first docking unit dock with second is in the relative position that can be docked between unit
State；Catch mechanism and catch the first docking unit, what then seizure mechanism was caught together with it carries nobody of the first docking unit
Machine integrally rotates relative to second interface so that first interface and the contact alignment of second interface, finally catches mechanism together with it
The docking unit of first with first interface unit caught is overall close to second interface unit, first interface is connect with second
Mouth docking.
Beneficial effect：The unmanned plane and base station docking system of the present invention can realize the mechanical splice between unmanned plane and base station
With electrically docking, the docking calculation based on the docking system can realize with unmanned plane float first docking unit can accurately with peace
The second docking unit on base station achieves a butt joint, reliable and stable.
Brief description of the drawings
Accompanying drawing 1 is unmanned plane, base station and the overall structure chart of docking system three；
Accompanying drawing 2 is the structure chart of unmanned plane and base station docking system；
Accompanying drawing 3 is the sectional view of unmanned plane and base station docking system；
Accompanying drawing 4 is the partial enlarged drawing of unmanned plane and base station docking system；
Accompanying drawing 5 is unmanned plane and the structure chart of second of embodiment of base station docking system.
1 first docking unit；2 second docking units；3 auxiliary docking systems；101 companion flanges；102 first interfaces；201
Pedestal；202 second interfaces；203 catch support；204 claws；205 driving arms；206 active brackets；207 flexible members；208
Electromagnet；209 armature；210 screw mandrels；211 motors；212 first gears；213 second gears；214 lifting supports；215 the 3rd teeth
Wheel；216 second motors；217 the 4th gears；218 second screw mandrels；219 the 3rd motors；220 feed screw nuts；301 dispersal units；
302 separate units；2041 are slidably matched portion；2042 axially-extending portions；2043 radial extensions；2061 flanging flanges.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
Unmanned plane as shown in Figure 2-4 and base station docking system, including the first docking unit 1 dock unit 2 with second,
The first docking unit 1 docks unit 2 with second can relative separation or docking；First docking unit 1 includes first interface
102, the second docking unit 2 includes second interface 202 and the seizure mechanism for capturing the first docking unit 1, the seizure
Mechanism can translate and rotate relative to the second interface 202, and the center of rotation that its translation direction rotates is parallel.
Also include auxiliary docking system 3, the auxiliary docking system 3 includes multiple independent scattered lists by scattering device
The dispersal unit group of member composition and the separate unit 302 that independent interaction can be carried out with each dispersal unit 301, the scattered list
Tuple and separate unit 302 are arranged on first one of in both and docked on unit 1, and another is arranged on second pair of order
In member 2.It should be noted that the interaction that the interaction between dispersal unit 301 and separate unit 302 herein can be signal (divides
Throwaway member 301 sends signal, another one reception signal with one of which in separate unit 302) or visual interaction
(dispersal unit 301 includes visually recognizable information with one of which in separate unit 302, and another one can be read and judge
The information).
Specifically, the rectangular array of dispersal unit 301 distribution or circumference array are distributed on multiple concentric circles, this
The distribution mode of the latter is used in embodiment, when dispersal unit group is arranged on the first docking unit 1, first interface 102
In the home position of concentric circles, when dispersal unit group is arranged on the second docking unit 2, second interface 202 is located at concentric circles
Home position.
In the first embodiment, the separate unit 302 is vision element, and the dispersal unit 301 is Quick Response Code, often
Individual Quick Response Code is respectively provided with uniqueness.Here vision element refers to that camera or other vision sensors, vision element can be read
2 D code information is simultaneously decoded by control centre, and the 2 D code information that control centre can read according to it determines unmanned plane
With the relative position of base station, and control unmanned plane carry out position compensation, in order that unmanned plane finally relatively accurately finds base station
The center of upper second interface 202, it is provided with base station and the heart is marked for what vision element was caught, it is described to be to heart mark
Facilitate the cross pictorial symbolization or star graphic mark that vision element is caught.
In second of embodiment, one of them in both the dispersal unit 301 and separate unit 302 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 301 is signal receiver, and separate unit 302 is signal projector, and dispersal unit group is arranged on base
On standing, separate unit 302 is arranged on unmanned plane.
The seizure mechanism includes catching support 203, and circumference array sets at least three claws on the seizure support 203
204, the claw 204 can be along the radial translation of the seizure support 203, and claw 204 includes be slidably matched portion 2041, edge seizure
The axially extending axially-extending portion 2042 of support 203 and the radial extension to extend radially outwardly along seizure support 203
2043.The translation of claw 204 is driven by driving arm 205, specifically, corresponding to seizure branch described in claw each described 204
A drive link is provided with frame 203, is hinged in the middle part of the drive link on the seizure support 203, drive link
One end connection claw 204 (one end of drive link is stretched into the pit being opened on claw 204, and can have one relative to pit
Fixed relative motion), other end connection driving arm 205 (is provided with annular groove, driving branch on the excircle of driving arm 205
The other end of frame 205 is stretched into annular groove), under original state, all claws 204 are gathered in the seizure support 203
Portion, when performing capturing motion, it is in dispersity that the four-way of claw 204 is scattered；The driving arm 205 can be caught relative to described
The axial translation of support 203 is caught, and driving arm 205 is arranged on active bracket 206, driving arm 205 is arranged on active bracket
(the present embodiment of the second flexible member 207 is provided between 206 and claw 204, and between driving arm 205 and active bracket 206
In be spring).The flanging flange 2061 for pushing down the companion flange 101 is provided with active bracket 206.
Corresponding to this seizure mechanism, the docking of the ring-type caught for capture unit is correspondingly arranged on the first docking unit 1
Flange 101, catching mechanism can stretch into companion flange 101, catch the claw 204 of mechanism under the driving of driving arm 205 to
The outer scattered inner ring for propping up companion flange 101, can so play a part of center of circle positioning, complete the center of circle of companion flange 101
After positioning, driving arm 205 can not continue to move, and have elastic component due to being set between active bracket 206 and driving arm 205
207, therefore active bracket 206 is unrestricted continues move to close to the direction for catching support 203, up to active bracket 206
Prop up companion flange 101 and promote it to be axially moved and be pushed to axially can not move untill, now flanging flange 2061 and
Radial extension 2043 on claw 204 pushes down the both sides of companion flange 101 respectively, and the axial direction for completing companion flange 101 is determined
Position.
The driving of the relative motion between active bracket 206 and seizure support 203 is driven equipped with following two：
First is electronic mode, and drive device includes the screw mandrel 210 being arranged on the seizure support 203, active screw mandrel
The screw thread being used cooperatively with the screw mandrel 210 is provided with 210, screw mandrel 210 is by installed in the motor 211 caught on support 203
Driving rotates, and specifically, first gear 212 is provided with screw mandrel 210, is provided with the output shaft of motor 211 and first gear
The second gear 213 of 212 engagements.
Second is magnetically-actuated, and as shown in Figure 5, the seizure support 203 is provided with electromagnet 208, the active branch
Frame 206 is provided with armature 209, and (is in the present embodiment provided with flexible member 207 between active bracket 206 and seizure support 203
Spring), when leaning on magnetic attraction between electromagnet 208 and armature 209, the claw 204 is in dispersity, when electromagnet 208
Disengaged with armature 209, active bracket 206 resets in the presence of the second flexible member 207, and claw 204, which is in, gathers state.
Seizure mechanism unitary rotation is arranged on lifting support 214, and lifting support 214 can be relative to second interface
202 liftings, specific implementation structure are to be fixed with the 3rd gear 215 on the seizure support 203, pacify on the lifting support 214
Equipped with the second motor 216, the 4th tooth engaged with the 3rd gear 215 is installed on the output shaft of second motor 216
Wheel 217.Second docking unit 2 includes pedestal 201, the second screw mandrel 218 is provided with the pedestal 201 and for driving second
3rd motor 219 of screw mandrel 218, the feed screw nut being used cooperatively with the second screw mandrel 218 is provided with the lifting support 214
220。
Docking calculation based on above-mentioned unmanned plane Yu base station docking system, as shown in Figure 1, the first docking unit exist
Random search is carried out in height in the presence of unmanned plane with a certain distance from from the second docking unit 2 on base station, when
Some dispersal unit 301 produces interaction with the separate unit 302, then can primarily determine that the relative position between unmanned plane and base station
Confidence ceases, and the control system of control unmanned plane motion carries out position compensation according to relative position information, and according to position compensation mistake
Interaction in journey between different dispersal units 301 and separate unit 302 constantly determines both relative positions, until the first docking
Unit 1 is docked between unit 2 in the relative position state that can be docked with second；Catch mechanism and catch the first docking unit 1, so
The unmanned plane with the first docking unit 1 that mechanism is caught together with it is caught afterwards integrally to rotate relative to second interface 202 so that
First interface 102 and the contact alignment of second interface 202, finally seizure mechanism catch single with first interface 102 together with it
First docking unit 1 of member is overall close to the unit of second interface 202, first interface 102 is docked with second interface 202.
In order to facilitate the contact alignment of first interface 102 and second interface 202, first interface 102 and second interface 202 it
Between be provided with alignment system, alignment system includes being arranged on the light of first interface 102 and second interface 202 on one of them and launched
Element, first interface 102 in another one in second interface 202 with being provided with light receiving element, when light receiving element can receive
To the light (can be visible ray or black light) of photocell transmitting, then control system control catches mechanism and stops turning
It is dynamic.
The unmanned plane and base station docking system of the present invention can realize mechanical splice between unmanned plane and base station with it is electric right
Connect, the docking calculation based on the docking system can realize with unmanned plane float first docking unit can accurately with installed in base station
On second docking unit achieve a butt joint, it is reliable and stable.
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. unmanned plane and base station docking system, it is characterised in that：Including the first docking unit unit is docked with second, described first
Docking unit docks unit with second can relative separation or docking；First docking unit includes first interface, the second docking unit
Including second interface and for capturing the first seizure mechanism for docking unit, the seizure mechanism can connect relative to described second
Mouth translation and rotation, the center of rotation that its translation direction rotates are parallel.
2. unmanned plane and base station docking system described in a claim 1, it is characterised in that：Also include auxiliary docking system, institute
State auxiliary docking system include by scattering device the dispersal unit group that forms of multiple independent dispersal units and can with it is each
Dispersal unit carries out individually interactive separate unit, is arranged on one of in both the dispersal unit group and separate unit
On first docking unit, another is arranged on the second docking unit.
3. unmanned plane according to claim 2 and base station docking system, it is characterised in that：The rectangular battle array of dispersal unit
Column distribution.
4. unmanned plane according to claim 3 and base station docking system, it is characterised in that：The dispersal unit circumference array
It is distributed on multiple concentric circles, when dispersal unit group is arranged on the first docking unit, first interface is located at the circle of concentric circles
Heart position, when dispersal unit group is arranged on the second docking unit, second interface is located at the home position of concentric circles.
5. unmanned plane and base station docking system according to claim any one of 2-4, it is characterised in that：The dispersal unit
For readable code fetch, each readable code fetch differs, and the separate unit is reading camera.
6. unmanned plane and base station docking system according to claim any one of 2-4, it is characterised in that：The dispersal unit
It is signal projector with one of them in both separate units, another is signal receiver.
7. unmanned plane according to claim 6 and base station docking system, it is characterised in that：The signal projector is infrared
Lamp, the signal receiver are infrared sensitive element.
8. unmanned plane according to claim 1 and base station docking system, it is characterised in that：The first docking unit includes
The companion flange of ring-type；The seizure mechanism includes catching support, and circumference array is provided with least three on the seizure support
Along the claw for the radial direction synchronous translational for catching support, the claw the axially extending of support can be caught including the portion that is slidably matched, edge
Axially-extending portion and along catch support the radial extension to extend radially outwardly；The motion of claw is driven by driving arm
Dynamic, the driving arm lifts under the promotion of the active bracket in the axial direction of the seizure support, and driving arm and master
Set and have elastic component between dynamic support；Active bracket is provided with the flanging flange for being used for pushing down the companion flange；Actively prop up
Frame is driven by the drive device being arranged on the seizure support.
9. unmanned plane according to claim 8 and base station docking system, it is characterised in that：Seizure mechanism integral installation
On lifting support, the seizure support can rotate relative to the lifting support, and the lifting support can be relative to described the
Two interfaces lift.
10. the docking calculation based on unmanned plane described in claim 2 Yu base station docking system, it is characterised in that：Described first pair
Order member carries out random in the height in the presence of unmanned plane with a certain distance from from the second docking unit on base station
Search, when some dispersal unit and separate unit generation interaction, then can primarily determine that relative between unmanned plane and base station
Positional information, control system carry out position compensation according to relative position information, and according to different scattered single during position compensation
Interaction between member and separate unit constantly determines both relative position, until the first docking unit with second dock unit it
Between in the relative position state that can dock；Catch mechanism and catch the first docking unit, then catch what mechanism was caught together with it
Unmanned plane with the first docking unit is overall to be rotated relative to second interface so that the contact pair of first interface and second interface
Standard, finally catch the docking unit of first with first interface unit that mechanism is caught together with it and integrally leaned on to second interface unit
Closely, first interface is made to be docked with second interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710799770.0A CN107554807A (en) | 2017-09-07 | 2017-09-07 | Unmanned plane and base station docking system and docking calculation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710799770.0A CN107554807A (en) | 2017-09-07 | 2017-09-07 | Unmanned plane and base station docking system and docking calculation |
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| Publication Number | Publication Date |
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| CN107554807A true CN107554807A (en) | 2018-01-09 |
Family
ID=60978275
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| CN201710799770.0A Withdrawn CN107554807A (en) | 2017-09-07 | 2017-09-07 | Unmanned plane and base station docking system and docking calculation |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108128208A (en) * | 2018-02-08 | 2018-06-08 | 张健 | A kind of suspension type unmanned plane capture charging unit and method |
| CN108515866A (en) * | 2018-04-04 | 2018-09-11 | 江南大学 | A kind of detachable battery changing-over charging unit |
| CN108945500A (en) * | 2018-05-23 | 2018-12-07 | 武汉科技大学 | Quadrotor drone movable type landing platform and battery methods are replaced automatically |
| CN109450106A (en) * | 2018-11-21 | 2019-03-08 | 西北工业大学 | A kind of clean energy resource platform based on floated wireless charging |
| CN111114357A (en) * | 2020-01-08 | 2020-05-08 | 华育昌(肇庆)智能科技研究有限公司 | New energy automobile battery charging outfit |
| CN112429251A (en) * | 2020-12-11 | 2021-03-02 | 西安电子科技大学 | Small aerial array docking and separating mechanism and method meeting electrical connection |
| CN113650729A (en) * | 2021-08-11 | 2021-11-16 | 深圳市人工智能与机器人研究院 | Automatic centering assembly, automatic centering method and mobile device |
| CN114084210A (en) * | 2021-12-02 | 2022-02-25 | 中国船舶工业系统工程研究院 | Three-dimensional mobile operation platform and unmanned aerial vehicle load bearing bracket applied by same |
| CN114084372A (en) * | 2021-12-02 | 2022-02-25 | 中国船舶工业系统工程研究院 | Unmanned aerial vehicle multitask load bearing bracket |
| CN114867032A (en) * | 2022-04-29 | 2022-08-05 | 北京尚谷彤邺科技发展有限公司 | 5G communication service system based on big data and terminal equipment thereof |
-
2017
- 2017-09-07 CN CN201710799770.0A patent/CN107554807A/en not_active Withdrawn
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108128208A (en) * | 2018-02-08 | 2018-06-08 | 张健 | A kind of suspension type unmanned plane capture charging unit and method |
| CN108515866A (en) * | 2018-04-04 | 2018-09-11 | 江南大学 | A kind of detachable battery changing-over charging unit |
| CN108945500A (en) * | 2018-05-23 | 2018-12-07 | 武汉科技大学 | Quadrotor drone movable type landing platform and battery methods are replaced automatically |
| CN108945500B (en) * | 2018-05-23 | 2021-11-30 | 武汉科技大学 | Movable landing platform of quad-rotor unmanned aerial vehicle and automatic battery replacement method |
| CN109450106B (en) * | 2018-11-21 | 2022-04-05 | 西北工业大学 | Clean energy platform based on floated wireless charging |
| CN109450106A (en) * | 2018-11-21 | 2019-03-08 | 西北工业大学 | A kind of clean energy resource platform based on floated wireless charging |
| CN111114357A (en) * | 2020-01-08 | 2020-05-08 | 华育昌(肇庆)智能科技研究有限公司 | New energy automobile battery charging outfit |
| CN112429251A (en) * | 2020-12-11 | 2021-03-02 | 西安电子科技大学 | Small aerial array docking and separating mechanism and method meeting electrical connection |
| CN113650729A (en) * | 2021-08-11 | 2021-11-16 | 深圳市人工智能与机器人研究院 | Automatic centering assembly, automatic centering method and mobile device |
| CN114084372A (en) * | 2021-12-02 | 2022-02-25 | 中国船舶工业系统工程研究院 | Unmanned aerial vehicle multitask load bearing bracket |
| CN114084210A (en) * | 2021-12-02 | 2022-02-25 | 中国船舶工业系统工程研究院 | Three-dimensional mobile operation platform and unmanned aerial vehicle load bearing bracket applied by same |
| CN114867032A (en) * | 2022-04-29 | 2022-08-05 | 北京尚谷彤邺科技发展有限公司 | 5G communication service system based on big data and terminal equipment thereof |
| CN114867032B (en) * | 2022-04-29 | 2023-09-12 | 青岛乾程科技股份有限公司 | Big data-based 5G communication service system |
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Application publication date: 20180109 |
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