CN108016345A - A kind of self-positioning vehicle-mounted continuation of the journey system of unmanned plane - Google Patents

A kind of self-positioning vehicle-mounted continuation of the journey system of unmanned plane Download PDF

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Publication number
CN108016345A
CN108016345A CN201711290985.6A CN201711290985A CN108016345A CN 108016345 A CN108016345 A CN 108016345A CN 201711290985 A CN201711290985 A CN 201711290985A CN 108016345 A CN108016345 A CN 108016345A
Authority
CN
China
Prior art keywords
unmanned plane
chassis
journey
continuation
canopy
Prior art date
Application number
CN201711290985.6A
Other languages
Chinese (zh)
Inventor
杨凌
李君杰
许飞
文朋
Original Assignee
成都天麒科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 成都天麒科技有限公司 filed Critical 成都天麒科技有限公司
Priority to CN201711290985.6A priority Critical patent/CN108016345A/en
Publication of CN108016345A publication Critical patent/CN108016345A/en

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Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01MCATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60PVEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B60P3/06Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
    • B60P3/11Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60SSERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00Servicing, maintaining, repairing or refitting of vehicles
    • B60S5/06Supplying batteries to, or removing batteries from, vehicles

Abstract

The present invention discloses a kind of self-positioning vehicle-mounted continuation of the journey system of unmanned plane, including bearing system, jacking system, alignment system and continuation of the journey system;The bearing system includes carriage, chassis and closing canopy body, and the side of the carriage has opening;The chassis bottom has universal wheel, and the side of chassis is used for the landing platform for providing unmanned plane, and the opposite side of chassis is used to install the carriage, landing platform described in the opening face of carriage;The closing canopy body bottom is slidably connected with the chassis, is slidably connected at the top of closing canopy body with the car top;The present invention is intended to provide a kind of self-positioning vehicle-mounted continuation of the journey system of unmanned plane, can be not required manually or lifting appliance is carried, can be directly in aerial pickup or unloading;It can realize the continuation of the journey of unmanned plane at the same time, and additional space is provided for the storage of unmanned plane, greatly improve security and the flexibility of unmanned plane storage.

Description

A kind of self-positioning vehicle-mounted continuation of the journey system of unmanned plane
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of self-positioning vehicle-mounted continuation of the journey system of unmanned plane.
Background technology
At present, as land transformation, farm land produce gradual scale, to improve agricultural production efficiency, reducing agricultural Production cost, is increased increasingly using the unmanned plane demand of operation such as spray insecticide.Unmanned plane operating area is mostly abrupt slope, unrest Complicated landform, most operation fields such as stone, shrub be weedy do not possess unmanned plane landing condition.Existing unmanned plane landing is put down Platform, which generally relies on, manually to be carried or by the upper and lower transport vehicle of hanging device, time-consuming and laborious, significantly impacts work efficiency and work Make enthusiasm.
Agricultural unmanned plane needs ceaselessly to fill liquid medicine in operation, how quickly, safety to unmanned plane medicine-chest add Liquid medicine is the important leverage that the unmanned engine efficiency of agricultural plant protection improves.Plant protection unmanned plane in correlation technique is using manually filling liquid medicine Method, this charging method efficiency is very low, the serious work efficiency that have impact on agricultural plant protection unmanned plane;Meanwhile manually Toxic medicament can be directly contacted during filling liquid medicine, so as to influence health of people.Unmanned plane needs to hold during plant protection Continuous power supply, detects during not enough power supply in unmanned plane operation process, it is necessary to back to charging on base station.Because of battery It is mounted in the battery compartment of unmanned plane, extracts battery manually and bother very much, increase the workload of operating personnel.
The content of the invention
The present invention is intended to provide a kind of self-positioning vehicle-mounted continuation of the journey system of unmanned plane, can be not required artificial or lifting appliance Carry, can be directly in aerial pickup or unloading;The continuation of the journey of unmanned plane, the installation of battery and dismounting side can be realized at the same time Just it is quick, it is convenient to charge to battery, realize automatic perfusion operation, operation is safer, and provides corresponding sky for the storage of unmanned plane Between, greatly improve security and the flexibility of unmanned plane storage.
To reach above-mentioned purpose, the technical solution adopted by the present invention is as follows:
A kind of self-positioning vehicle-mounted continuation of the journey system of unmanned plane, including bearing system, alignment system, jacking system and continuation of the journey system System;
The bearing system includes carriage, chassis and closing canopy body, and the side of the carriage has opening;The chassis bottom Portion has universal wheel, and the side of chassis is used for the landing platform for providing unmanned plane, and the opposite side of chassis is used to install the carriage, Landing platform described in the opening face of carriage;The closing canopy body bottom is slidably connected with the chassis, at the top of closing canopy body and The car top is slidably connected;
The alignment system includes supporting rack, transmission device and positioner, and support frame as described above is arranged on landing platform, The first detection sensor is provided with landing platform;The transmission device includes driving motor, drive roll, driven roller and biography Band is sent, drive roll and driven roller are separately positioned on the both ends of supporting rack, and conveyor belt loop is wound on drive roll and driven roller On, the side of conveyer belt is provided with the second detection sensor, and driving motor is used to drive drive roll to drive conveyer belt to work; The positioner includes the localization handspike of two relative motions and driving cylinder, two localization handspikes are located at conveyer belt two respectively Side is simultaneously parallel with conveyer belt, and localization handspike is highly higher than belt heights, and driving cylinder is arranged on supporting rack bottom;
The jacking system includes driving device and multiple lifting push rods, and the driving device is installed in carriage, described Multiple lifting push rods are distributed on chassis side wall, and driving device output power to lifting push rod is so that chassis lifts;
The continuation of the journey system includes explosive box, mechanical arm, vacuum equipment and charging equipment, and mechanical arm is arranged on opening for carriage At mouthful, explosive box, vacuum equipment and charging equipment are arranged in carriage;The end set of the mechanical arm has swivel joint, rotation Adapter is rotatablely connected with mechanical arm;Described swivel joint one end is fixed with medicine-injecting connector, and the swivel joint other end is fixed with very Suction disk, vacuum cup are connected by gas-guide tube with vacuum equipment;The explosive box is provided with killer injecting pump, and killer injecting pump, which has, to be pumped out Mouth and pump intake, with being connected inside the explosive box, pump discharge is connected the pump intake with the medicine-injecting connector by catheter; The charging equipment includes battery bracket, and the battery bracket is used to accommodate battery, and battery top has sticking surface.
In certain embodiments, the closing canopy body includes frame body, canopy face and closing door, and the frame body includes multiple frames Frame, multiple frame vertical straights are arranged at intervals and are connected by link;The canopy face is fixed in the circumferential direction of frame body;The closing door Frame body one end of carriage is arranged far from, one end of closing door is rotatablely connected with the frame body.
In certain embodiments, the link includes fixed frame and expansion bracket, the fixed mount setting in frame body two End, expansion bracket are arranged on the middle part of frame body;The first lock is provided with the closing canopy body, is provided with chassis and the first lock First snap fitting of adaptation;The second lock is provided with the closing door, is provided with the canopy face suitable with the second lock The second snap fitting matched somebody with somebody;When the closing canopy body is collapsed in carriage, closing door is matched somebody with somebody by the second lock and the second lock Component is fixed on the canopy face.
In certain embodiments, the bottom of side and top are respectively arranged with multiple movable pulleies in the closing canopy body, described Chassis both sides and car top are respectively arranged with slide, and closing canopy body is slided with chassis and carriage respectively by movable pulley and slide Connection.
In certain embodiments, extending-board, described extending-board one end and bottom are further included between the lifting push rod and chassis Frame is rotatablely connected in the horizontal plane, and the extending-board other end is fixedly connected with lifting push rod;The lifting push rod includes cylinder body and stretches Contracting bar, the cylinder body are fixed on the upside of extending-board, and extending-board is provided with the through hole passed through for telescopic rod;Also set up on the extending-board There is supported rod erecting, be provided with lid at the top of supported rod erecting, lid downside surface is abutted with the cylinder body.
In certain embodiments, the battery bracket is equipped with multiple battery holding tanks, the left and right sides of battery holding tank Battery guide supporting item is respectively arranged with, charging connector is provided with front side of battery holding tank, charging connector is filled with external charging Put electrical connection.
In certain embodiments, the battery guide supporting item includes installing plate and two guide support columns, guide support Column and installing plate vertical connection, two guide support columns are arranged on the both ends of installing plate side wall and close to the battery holding tanks.
In certain embodiments, agitating shaft is provided with the explosive box, stirring motor is provided with explosive box;It is described to stir Mix axis one end and be connected with blade, the agitating shaft other end is connected through explosive box and with stirring motor.
In certain embodiments, it is additionally provided with support frame as described above multiple for limiting the spacing of unmanned plane vertical and straight movement Part, multiple locating parts are separately positioned on conveyer belt both sides and close to second detection sensors.
In certain embodiments, further include control module, the bearing system, jacking system, continuation of the journey system with control Module is electrically connected.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention;
Fig. 2 is jacking system front view;
Fig. 3 is jacking system top view;
Fig. 4 is jacking system side view;
Fig. 5 is bearing system frame diagram;
Fig. 6 is bearing system side view;
Fig. 7 is bearing system open state structure diagram;
Fig. 8 is bearing system closed state structure diagram;
Fig. 9 is bearing system top view;
Figure 10 is continuation of the journey system operating diagram;
Figure 11 is explosive box structure diagram;
Figure 12 is battery bracket structure diagram;
Figure 13 is enlarged drawing at A in Figure 12;
Figure 14 is positioning system structure schematic diagram;
Figure 15 is positioner top view;
Figure 16 is positioner top view;
In figure:1000- bearing systems, 2000- jacking systems, 3000- continuations of the journey system, 4000- alignment systems;
1100- carriages, 1200- chassis, 1300- closing canopies body, 1101- communicating doors, 1201- landings platform, 1202- are slided Rail, 1203- universal wheels, the first snap fittings of 1204-, 1301- frame bodies, 1302- frames, 1303- links, 1304- canopies face, 1305- closing doors, 1306- fixed frames, 1307- expansion brackets, 1308- first are latched, 1309- second is latched, 1310- second is latched Counterpart, 1311- movable pulleies;
2001- driving devices, 2002- liftings push rod, 2003- extending-boards, 2004- cylinder bodies, 2005- telescopic rods, 2006- branch Support upright bar, 2007- lids;
3200- mechanical arms, 3300- explosive boxs, 3400- charging equipments, 3500- battery brackets, 3201- medicine-injecting connectors, 3205- vacuum cups, 3206- vacuum equipments, 3207- swivel joints, 3301- killer injecting pumps, 3302- pump intakes, 3303- are pumped out Mouth, 3304- stirring motors, 3305- agitating shafts, 3306- flowmeters, 3307- liquid level gauges, 3308- solenoid valves, 3309- check-valves, 3402- batteries, 3406- control modules, 3501- batteries holding tank, 3502- battery guides supporting item, 3503- charging connectors, 3504- installing plates, 3505- guide support columns;
4200- transmission devices, 4300- positioners, 4101- supporting racks, the first detection sensors of 4102-, 4103- are spacing Part, 4201- driving motor, 4202- drive rolls, 4203- driven rollers, 4204- conveyer belts, the second detection sensors of 4205-, 4301- localization handspikes, 4302- driving cylinders.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with attached drawing, to the present invention into Row is further described.
As illustrated in figs. 1-16, the self-positioning vehicle-mounted continuation of the journey system of a kind of unmanned plane, including bearing system 1000, jacking system 2000th, continuation of the journey system 3000 and alignment system 4000;
As shown in Fig. 2, bearing system 1000 includes carriage 1100, chassis 1200 and closing canopy body 1300, carriage 1100 Side has opening, and 1200 bottom of chassis has universal wheel 1203, its side is used for the landing platform 1201 for providing unmanned plane, separately Side is used to install carriage 1100, the opening face landing platform 1201 of carriage 1100;Close 1300 bottom of canopy body and chassis 1200 are slidably connected, and 1300 top downside surface of closing canopy body is slidably connected with 1100 top surface of carriage.
As shown in figure 3, main body of the chassis 1200 as unmanned plane toter, there is provided for the landing of unmanned plane landing Platform 1201, the unmanned plane of landing will be parked on the landing platform 1201.The unmanned plane being parked on the landing platform 1201 Can be one or more, it can be needed flexibly to be set according to deployment.It can be loaded in carriage 1100 and all kinds of be used for nobody The maintenance tool of the matable assembly of machine, either unmanned plane still replaces accessory, also or continues a journey required battery or fuel oil, and Other are with the driving device 2001 in the relevant equipment of unmanned plane or article, such as jacking system 2000.
When unmanned plane is loaded on landing platform 1201, closing canopy body 1300, carriage 1100 and landing platform 1201 can be with It is collectively forming for the memory space of unmanned plane safety stop, the unmanned plane of landing is parked in the memory space, with maximum limit The unmanned plane for avoiding stopping is influenced degree be subject to external environment condition, so as to fulfill the transport to unmanned plane.It is readily apparent that, landing Multiple locking pieces can be set on platform 1201, for locking the unmanned plane rested on landing platform 1201.
As illustrated in figures 14-16, alignment system 4000 includes supporting rack 4101, transmission device 4200 and positioner 4300, Supporting rack 4101 is arranged on landing platform 1201, and the first detection sensor 4102 is provided with landing platform 1201;Transmission dress Putting 4200 includes driving motor 4201, drive roll 4202, driven roller 4203 and conveyer belt 4204, drive roll 4202 and from Dynamic roller 4203 is separately positioned on the both ends of supporting rack 4101, and conveyer belt 4204 is looped around drive roll 4202 and driven roller On 4203, the side of conveyer belt 4204 is provided with the second detection sensor 4205, and driving motor 4201 is used to drive drive roll 4202 to drive conveyer belt 4204 to work;Positioner 4300 includes the localization handspike 4301 and driving cylinder of two relative motions 4302, for two localization handspikes 4301 respectively positioned at 4204 both sides of conveyer belt and parallel with conveyer belt 4204, localization handspike 4301 is high Degree is arranged on 4101 bottom of supporting rack higher than the height of conveyer belt 4204, driving cylinder 4302;
It is readily apparent that, as shown in figure 14, unmanned plane is rested on conveyer belt 4204, and the first detection sensor 4102 detects To unmanned plane, control module is sent control signals to, control module controls driving cylinder 4302 to act, drives conveyer belt immediately The localization handspike 4301 of 4204 both sides is to 4204 relative motion of conveyer belt;It is pre- when driving the telescopic rod on cylinder 4302 to move to its Determine the end of stroke, the localization handspike 4301 being connected with telescopic rod promotes the center of unmanned plane arrival conveyer belt 4204, And two localization handspikes 4301 can clamp unmanned plane, complete unmanned plane X to positioning;Driving cylinder 4302 reaches predetermined stroke Behind end, according to preset program two localization handspikes 4301 can be made somewhat to retreat, localization handspike 4301 is unclamped unmanned plane.
After driving cylinder 4302 to complete a series of actions, control module controls driving motor work immediately, and driving motor drives So as to drive conveyer belt to work, unmanned plane is transmitted to precalculated position and is examined by the second detection sensor 4205 dynamic driving roller 4202 Measuring, the second detection sensor 4205 will detect signal and be sent to control module, and control module control driving motor is stopped, Control driving cylinder makes the localization handspike 4301 of unmanned plane both sides clamp unmanned plane again at the same time, completes the Y-direction positioning of unmanned plane. Wherein, in the conveyer belt course of work, the foot stool of unmanned plane can coordinate with the locating part 4103 of conveyer belt both sides, so as to limit Unmanned plane is positioned in the movement of Z-direction, the Z-direction for completing unmanned plane.It can realize that unmanned plane XYZ three-dimensionals position, without manually mobile, Unmanned plane is set to rest in predetermined fixed position.
As shown in Fig. 2, jacking system 2000 includes driving device 2001 and multiple lifting push rods 2002, driving device 2001 In carriage 1100, multiple lifting push rods 2002 are distributed on the side wall of chassis 1200, and driving device 2001 exports power To lifting push rod 2002 so that chassis 1200 lifts.The landing platform after unmanned plane is carried, it is necessary to during short-distance movement, can be relied on The universal wheel 1102 of bottom is arranged on, promotes chassis 1200 to be moved;Or need to transport for long-distance, jacking system can be relied on 2000 raise platform, so that transport vehicle, such as transport vehicle, can be moved to mesa base by the loading space of open mode, Need not loading space artificial or that transport vehicle is transported to by hanging device.It is readily apparent that, jacking system 2000 is hydraulic pressure system System or pneumatic system, driving device 2001 are oil pump or air compressor machine, and driving device 2001 passes through with multiple lifting push rods 2002 Conduit connects.
Wherein, as shown in figure 5, being collapsed when closing canopy body 1300 in carriage 1100, so that landing platform 1201 exposes, open Landing platform 1201 is put, unmanned plane can be dropped on landing platform 1201, or can be taken off from landing platform 1201.When Closing canopy body 1300 is unfolded, and closing canopy body 1300, the chassis 1200 of carriage 1100 and unfolded state surround a closing sky jointly Between, to close landing platform 1201.
Closing canopy body 1300 is slidably connected with chassis 1200 and carriage 1100 respectively, passes through the drive to closing canopy body 1300 It is dynamic so that the location status of closing canopy body 1300 is adapted with the unmanned plane behavior rested against on landing platform 1201, for example, envelope The state for closing canopy body 1300 will be coordinated with the dropping action of unmanned plane or takeoff maneuver, if the landing of unmanned plane need to be carried out, Unmanned plane landing platform 1201 under closed state, it is closed canopy body 1300 and is collapsed under driving, unmanned plane landing platform 1201 Open state is transformed to by closed state, and after the landing of unmanned plane is completed, closing canopy body 1300 is unfolded under driving, nobody Machine landing platform 1201 is transformed to closed state by open state;For the unmanned plane landing platform 1201 under closed state, if Taking off for unmanned plane need to be carried out, closing canopy body 1300 collapses under driving, so that unmanned plane landing platform 1201 is by closed state It is transformed to open state.
It can be the mode that manually pushes and pulls to obtain it is contemplated that the driving of closing canopy body 1300, can also use Electric and pneumatic mode, it is not described here in detail.
As shown in Figure 1, continuation of the journey system 3000 is set including explosive box 3300, mechanical arm 3200, vacuum equipment 3206 and charging Standby 3400, mechanical arm 3200 is arranged on the opening of carriage 1100, explosive box 3300, vacuum equipment 3206 and charging equipment 3400 It is arranged in carriage 1100;The end set of mechanical arm 3200 has swivel joint 3207, swivel joint 3207 and mechanical arm 3200 Rotation connection;3207 one end of swivel joint is fixed with medicine-injecting connector 3201, and 3207 other end of swivel joint is fixed with vacuum cup 3205, vacuum cup 3205 is connected by gas-guide tube with vacuum equipment 3206;Explosive box 3300 is provided with killer injecting pump 3301, injection Pump 3301 has pump discharge 3303 and a pump intake 3302, pump intake 3302 with being connected inside explosive box 3300, pump discharge 3303 and Medicine-injecting connector 3201 is connected by catheter;Charging equipment 3400 includes battery bracket 3500, and battery bracket 3500 is used to accommodate Battery 3402, the top of battery 3402 have sticking surface.
Unmanned plane detects self electric quantity deficiency in operation process, reaches threshold values set in advance, starts program of making a return voyage, Return it is default make a return voyage a little, make a return voyage and be a little arranged on landing platform.Battery 3402 on unmanned plane is installed on the electricity on unmanned plane In the fixed frame of pond, and powered by control circuit for the component on unmanned plane;It should be understood that battery 3402 passes through self gravitation It is inserted on battery fixed frame, battery 402 can separate above battery fixed frame, can also pacify above battery fixed frame Dress.
Unmanned plane detects itself dose deficiency in operation process, reaches threshold values set in advance, starts program of making a return voyage, Return default make a return voyage a little.Medicine-chest is installed on unmanned plane, and supplies medicine by pipeline for the sprinkler part on unmanned plane;It can manage Solution, medicine-chest can also carry out injection by that can be separated from unmanned plane and then injection directly on unmanned plane.
Specifically, as shown in Figure 10, unmanned plane rests in designated position, by the action of mechanical arm 3200, makes to be located at machine Medicine-injecting connector 3201 on 3200 end swivel joint 3207 of tool arm is contacted and abutted with the seal nipple at the top of medicine-chest, and then is made Connected inside medicine-chest by medicine-injecting connector 3201 with explosive box 3300, under the work of killer injecting pump 3301 so that explosive box 3300 Interior liquid is pumped into unmanned plane medicine-chest;After the completion of medicine-chest injection, mechanical arm 3200 acts, make medicine-injecting connector 3201 with it is close Sealing joint separates, and completes the sealing of medicine-chest.
Unmanned plane rests in designated position, by the action of mechanical arm 3200, connects the rotation positioned at 3200 end of mechanical arm Vacuum cup 3205 on first 3207 is contacted with the sticking surface of 3402 top surface of battery, and vacuum cup 3205 passes through conduit and vacuum Equipment 3206 connects, after vacuum equipment 3206 works so that vacuum cup 3205 reaches vacuum, sticking battery top surface so that machine Tool arm 3200 can capture battery 3402;Again by a series of actions of mechanical arm 3200, it is put into the battery 3402 of crawl Vacant area on battery bracket 3500, and battery 3402 is discharged, complete the dismounting of unmanned machine battery;Removing battery 3402 finishes Afterwards, mechanical arm 3200 captures the reserve battery on battery bracket 3500, and by a series of counteragents, reserve battery is installed to In battery fixed frame on unmanned plane, the installation of unmanned machine battery is completed.
It is readily apparent that, vacuum equipment 3206 is vacuum pump, or the combination for air compressor and vacuum generator, can To select model EBMA-125-1 vacuum cup vacuum pump components.
As shown in fig. 6, closing canopy body 1300 includes:Frame body 1301, canopy face 1304 and closing door 1305.
Frame body 1301 includes multiple frames 1302, and multiple 1302 vertical spacings of frame set and connected by link 1303 Connect;Canopy face 1304 is fixed in the circumferential direction of frame body 1301;Closing door 1305 is arranged far from 1301 one end of frame body of carriage 1100, One end of closing door 1305 is rotatablely connected with frame body 1301.
Wherein, as shown in fig. 7, closing canopy 1300 frame body 1301 to be formed by connecting by multiple frames 1302 of body, Canopy face 1304 is fixed in the top surface and left and right sides of frame body 1301, to form the canopy body slided on chassis.Before canopy body Be fixedly connected with closing door 1305 at end opening, closing door 1305 can be single open-door or double door, also or other The door of meaning form, its main purpose are for closing the opening positioned at canopy body front end, so that closing canopy body 1300,1100 and of carriage Chassis 1200 can form a storage area.
It should be understood that can be totally-enclosed by the storage area that closing canopy body 1300 is formed on landing platform 1201 Formula, or it is non-fully enclosed, this is set the protection obtained according to required for unmanned plane.
Close the frame body 1301 of canopy body 1300, can use rigid structure, can also use stretching structure, also or rigidly and Flexible mixed structure.According to the structure size of toter, when the horizontal length of carriage 1100 is more than landing platform 1201 During horizontal length, preferred rigid structure, closing canopy body 1300 can be after landing platform 1201 be closed, and rigid structure can be complete It is accommodated in carriage 1100;Conversely, closing canopy body 1300 is merely able to be accommodated in completely in carriage 1100 by stretching structure.
As shown in figure 8, link 1303 includes fixed frame 1306 and expansion bracket 1307, fixed frame 1306 is arranged on frame body 1301 both ends, expansion bracket 1307 are arranged on the middle part of frame body 1301.Since the frame body stability of rigid structure is much stronger than flexible The frame body of structure, while in order to save space, using rigidity and the structure of flexible mixing.Rigid structure is located at the both sides of frame body, Can be easy to that the location status of frame body is fixed.
Wherein, as shown in figure 9, being provided with the first lock 1308 on closing canopy body 1300, it is provided with chassis 1200 and the First snap fitting 1204 of one lock, 1308 adaptation.The both ends of 1300 bottom of closing canopy body are respectively arranged with the first lock 1308, the location status for being unfolded or collapsing for latch enclosure canopy body 1300, is provided with chassis 1200 multiple with the first lock First snap fitting 1204 of 1308 adaptations, the position of the first snap fitting 1204 and the location status of closing canopy body 1300 Adaptation, closing canopy body 1300 are fixed on chassis 1200 by the first lock 1308 and the first snap fitting 1204.
The second lock 1309 is provided with closing door 1305, the be adapted to the second lock 1309 is provided with canopy face 1304 Two snap fittings 1310;When closing canopy body 1300 is collapsed in carriage 1100, closing door 1305 passes through the second 1309 Hes of lock Second snap fitting 1310 is fixed on canopy face 1304, is made to avoid landing platform 1201 of the closing door 1305 to open state Into influence.
As shown in figure 5, the bottom and top of 1300 inner side of closing canopy body are respectively arranged with multiple movable pulleies 1311, chassis 1200 both sides and the top of carriage 1100 are respectively arranged with slide 1202, and closing canopy body 1300 passes through movable pulley 1311 and slide 1202 It is slidably connected respectively with chassis 1200 and carriage 1100.Closing canopy body 1300 is led by movable pulley 1311 and slide 1202 To, being moved on chassis 1200 for 1300 safety and steady of closing canopy body can be made, meanwhile, set and slide at the top of carriage 1100 Rail 1202, can ensure to close the steady of the top of canopy body 1300.Using movable pulley 1311, frictional damping is reduced, can be with user The mode of work push-and-pull is driven, and can also use the mode of motor driving movable pulley 1311, is completed to closing canopy body 1300 Driving.Wherein, 1100 side wall of carriage is provided with the communicating door 1101 with being connected in carriage 1100, can be in closing landing platform 1201 In the case of, carriage 1100 can be entered, carry out various operations.
As shown in Fig. 2, further include extending-board 2003 between lifting push rod 2002 and chassis 1200,2003 one end of extending-board with 1200 side wall of chassis connects, and 2003 other end of extending-board is connected with lifting push rod 2002;In certain embodiments, extending-board 2003 It is detachably connected respectively with lifting push rod 2002 and chassis 1200.The setting of extending-board 2003, ensure that jacking system 2000 Executive item, that is, lifting push rod 2002 can be away from chassis 1200, and the lifting push rod 2002 after rise will not be sent out with the side of loading space Raw contact, enables chassis 1200 to be completely placed in loading space.Certainly, it is necessary to retract what is stretched out after being placed into loading space Push rod 2002 is lifted, and extending-board 2003 is removed from chassis 1200, can be closed easy to loading space.
It should be understood that as shown in figure 3,2003 one end of extending-board is rotatablely connected in the horizontal plane with chassis 1200, elongation 2003 other end of plate is fixedly connected with lifting push rod 2002.For the ease of using, extending-board 2003 and the rotation of chassis 1200 connect Connect, extending-board 2003 can be enable to be accommodated in the side of chassis 1200, reduce the width of toter, raise and be placed into loading space Chassis 1200 can be accommodated in loading space, and loading space is closed, increase the security of transport.
In certain embodiments, as shown in Fig. 2, lifting push rod 2002 includes cylinder body 2004 and telescopic rod 2005, cylinder body 2004 are fixed on the upside of extending-board 2003, and extending-board 2003 is provided with the through hole passed through for telescopic rod 2005.It should be understood that cylinder body 2004 correspond to different systems, and e.g., hydraulic system or pneumatic system, are hydraulic cylinder or cylinder.To ensure the steady of driving process It is qualitative, supported rod erecting 2006 is additionally provided with extending-board 2003, the top of supported rod erecting 2006 is provided with lid 2007, lid 2007 Downside surface is abutted with cylinder body 2004 so that the top and bottom of cylinder body 2004 are limited, and then telescopic rod 2005 is moving During, cylinder body 2004 will not be shaken.
It is easily understood that cylinder body 2004 can be bolted with extending-board 2003, lifting push rod 2002 is initial State lower bottom part is higher than 1203 bottom of universal wheel.
As illustrated by figs. 12-13, battery bracket 3500 is equipped with multiple battery holding tanks 3501, a left side for battery holding tank 3501 Right both sides are respectively arranged with battery guide supporting item 3502, and the front side of battery holding tank 3501 is provided with charging connector 3503, fills Electric connection 3503 is electrically connected with external recharging apparatus.Battery guide supporting item 3502 includes installing plate 3504 and two guide supports Column 3505, guide support column 3505 and 3504 vertical connection of installing plate, two guide support columns 3505 are arranged on installing plate 3504 The both ends of side wall and close battery holding tank 3501.After battery component on unmanned plane is drawn by vacuum cup 3205, pass through After mechanical arm 3200 is moved to charging station, charging station charging is placed on;Then drawn on charging station charged Battery component to unmanned plane station, complete battery 3402 and install.
As shown in figure 11, agitating shaft 3305 is provided with explosive box 3300, stirring motor is provided with explosive box 3300 3304;3305 one end of agitating shaft is connected with blade, 3305 other end of agitating shaft through explosive box 3300 and with stirring motor 3304 Connection.Flowmeter 3306 is additionally provided with explosive box 3300, flowmeter 3306 is used for the injection amount for detecting killer injecting pump 3301.Drug storage Liquid level gauge 3307 is further included on case 3300, liquid level gauge 3307 is used to observe residual drug in explosive box 3300.Pump intake 3302 is set Solenoid valve 3308 is equipped with, pump discharge 3303 is provided with check-valves 3309.
Wherein, the side of explosive box 3300 is provided with liquid level gauge 3307, can know liquid storage situation in explosive box in time, side Just staff is operated;The close lateral location in the top of explosive box 3300, is provided with window and is provided with closing cap, staff Medicinal powder and water can be poured into explosive box 3300 by the window, mixing is stirred by the agitating shaft 3305 in explosive box, is obtained To preset concentration and uniformly mixed liquid;When killer injecting pump 3301 is pumped into liquid to medicine-chest, by flowmeter 3306, medicine is detected Dose situation in case, providing signal in time makes killer injecting pump 3301 be stopped.It is readily apparent that, the medicine of plant protection unmanned plane sprinkling Liquid has toxicity, and to avoid liquid leakage, two openings of killer injecting pump 3301 are both provided with valve.
Further include control module 3406, bearing system 1000, jacking system 2000, continuation of the journey system 3000 are and control module 3406 are electrically connected.Control module 3406 is used to detect unmanned plane position, and control machinery arm 3200, vacuum equipment 3206 and injection The action of pump 3301.When unmanned plane detects that medicine-chest needs to carry out liquid feeding, make a return voyage and detect nobody to designated position, control module After machine, unmanned plane is fixed on by default operation position by alignment system 4000, control machinery arm 3200 acts, driving rotation Connector 3207 rotates, and medicine-injecting connector 3201 is connected with the seal nipple on unmanned plane medicine-chest;At this time, control module 3406 is opened Solenoid valve 3308 on killer injecting pump 3301, control killer injecting pump 3301 work, and liquid enters medicine-chest by killer injecting pump 3301;In medicine-chest Amount of liquid is detected by the flowmeter 3306 on killer injecting pump 3301, and when medicinal liquid flow reaches pre-set threshold value, flowmeter 3306 is sent Signal, control module 3406 receives signal and controls killer injecting pump 3301 to be stopped, and closes solenoid valve 3308;It is stopped 5 After second, mechanical arm 3200 acts, and medicine-injecting connector 3201 is departed from seal nipple, avoids residual liquid from oozing out.
When unmanned plane detects not enough power supply, and battery 3402 needs replacing, make a return voyage to designated position, control module 3406 After detecting unmanned plane, unmanned plane is fixed on by default operation position by alignment system 4000, control machinery arm 3200 is dynamic Make, driving swivel joint 3207 rotates, and makes the sticking surface on the downward face battery 3402 of vacuum cup 3205, vacuum equipment 3206 inhale, playing function is controlled by the control signal of control module 3406, when vacuum cup 3205 works, can by vacuum or Air pressure is detected whether to be attracted or is totally released, and provides 3200 transportable signal of mechanical arm to control module 3406.Control mould Block 3406 completes the automatic work of mechanical arm 3200 and vacuum equipment 3206 by setting series of instructions, it is not necessary to manually into Row operation, realizes complete automation, mitigates hand labor intensity.
In unmanned plane operation process, the present invention can provide cruising ability for unmanned plane;Unmanned plane is in non-operation process In, the present invention realizes the opening and sealing of landing platform in which can act freely so that for stop unmanned plane provide it is totally-enclosed Or semi-enclosed storage area, and then can freely perform Takeoff behaviour and the same of behavior that land in the unmanned plane that ensure that delivery When, also so that unmanned plane obtains the influence in order to avoid external environment condition, such as exterior bad weather, drastically increase making for unmanned plane With the service life, while it can disobey manually or be loaded into by lifting appliance in transport loading space, enhance unmanned plane storage and fortune Defeated security and convenience.
Certainly, the present invention can also have other numerous embodiments, in the case of without departing substantially from spirit of the invention and its essence, Those skilled in the art can make various corresponding changes and deformation according to the present invention, but these change and become accordingly Shape should all belong to the protection domain of appended claims of the invention.

Claims (10)

  1. A kind of 1. self-positioning vehicle-mounted continuation of the journey system of unmanned plane, it is characterised in that:Including bearing system, alignment system, jacking system With continuation of the journey system;
    The bearing system includes carriage, chassis and closing canopy body, and the side of the carriage has opening;The chassis bottom tool There is universal wheel, the side of chassis is used for the landing platform for providing unmanned plane, and the opposite side of chassis is used to install the carriage, carriage Opening face described in landing platform;The closing canopy body bottom is slidably connected with the chassis, closing canopy body top with it is described Car top is slidably connected;
    The alignment system includes supporting rack, transmission device and positioner, and support frame as described above is arranged on landing platform, landing The first detection sensor is provided with platform;The transmission device includes driving motor, drive roll, driven roller and transmission Band, drive roll and driven roller are separately positioned on the both ends of supporting rack, and conveyor belt loop is wound on drive roll and driven roller, The side of conveyer belt is provided with the second detection sensor, and driving motor is used to drive drive roll to drive conveyer belt to work;Institute Localization handspike of the positioner including two relative motions and driving cylinder are stated, two localization handspikes are located at conveyer belt both sides respectively And it is parallel with conveyer belt, localization handspike is highly higher than belt heights, and driving cylinder is arranged on supporting rack bottom;
    The jacking system includes driving device and multiple lifting push rods, and the driving device is installed in carriage, the multiple Lifting push rod is distributed on chassis side wall, and driving device output power to lifting push rod is so that chassis lifts;
    The continuation of the journey system includes explosive box, mechanical arm, vacuum equipment and charging equipment, and mechanical arm is arranged on the opening of carriage Place, explosive box, vacuum equipment and charging equipment are arranged in carriage;The end set of the mechanical arm has swivel joint, rotation Connector is rotatablely connected with mechanical arm;Described swivel joint one end is fixed with medicine-injecting connector, and the swivel joint other end is fixed with vacuum Sucker, vacuum cup are connected by gas-guide tube with vacuum equipment;The explosive box is provided with killer injecting pump, and killer injecting pump has pump discharge And pump intake, with being connected inside the explosive box, pump discharge is connected the pump intake with the medicine-injecting connector by catheter;Institute Stating charging equipment includes battery bracket, and the battery bracket is used to accommodate battery, and battery top has sticking surface.
  2. A kind of 2. self-positioning vehicle-mounted continuation of the journey system of unmanned plane according to claim 1, it is characterised in that:The closing canopy body Including frame body, canopy face and closing door, the frame body includes multiple frames, and multiple frame vertical straights are arranged at intervals and are connected by link Connect;The canopy face is fixed in the circumferential direction of frame body;The closing door is arranged far from frame body one end of carriage, one end of closing door It is rotatablely connected with the frame body.
  3. A kind of 3. self-positioning vehicle-mounted continuation of the journey system of unmanned plane according to claim 2, it is characterised in that:The link bag Fixed frame and expansion bracket are included, for the fixed mount setting at the both ends of frame body, expansion bracket is arranged on the middle part of frame body;The closing canopy The first lock is provided with body, the first snap fitting being adapted to the first lock is provided with chassis;Set on the closing door The second lock is equipped with, the second snap fitting being adapted to the second lock is provided with the canopy face;When the closing canopy body is received Hold together in carriage, closing door is fixed on the canopy face by the second lock and the second snap fitting.
  4. A kind of 4. self-positioning vehicle-mounted continuation of the journey system of unmanned plane according to claim 1, it is characterised in that:The closing canopy body The bottom and top of inner side are respectively arranged with multiple movable pulleies, and the chassis both sides and car top are respectively arranged with slide, envelope Canopy body is closed to be slidably connected with chassis and carriage respectively by movable pulley and slide.
  5. A kind of 5. self-positioning vehicle-mounted continuation of the journey system of unmanned plane according to claim 1, it is characterised in that:The lifting push rod Extending-board is further included between chassis, described extending-board one end is rotatablely connected in the horizontal plane with chassis, the extending-board other end with Lifting push rod is fixedly connected;The lifting push rod includes cylinder body and telescopic rod, and the cylinder body is fixed on the upside of extending-board, extending-board It is provided with the through hole passed through for telescopic rod;Supported rod erecting is additionally provided with the extending-board, lid is provided with the top of supported rod erecting, is covered Body downside surface is abutted with the cylinder body.
  6. A kind of 6. self-positioning vehicle-mounted continuation of the journey system of unmanned plane according to claim 1, it is characterised in that:The battery bracket Multiple battery holding tanks are equipped with, battery guide supporting item, battery holding tank are respectively arranged with left and right sides of battery holding tank Front side be provided with charging connector, charging connector is electrically connected with external recharging apparatus.
  7. A kind of 7. self-positioning vehicle-mounted continuation of the journey system of unmanned plane according to claim 6, it is characterised in that:The battery guide Supporting item includes installing plate and two guide support columns, and guide support column and installing plate vertical connection, two guide support columns are set Put at the both ends of installing plate side wall and close to the battery holding tank.
  8. A kind of 8. self-positioning vehicle-mounted continuation of the journey system of unmanned plane according to claim 1, it is characterised in that:In the explosive box Agitating shaft is provided with, stirring motor is provided with explosive box, one end of the mixing shaft is connected with blade, and the agitating shaft other end runs through drug storage Case is simultaneously connected with stirring motor.
  9. A kind of 9. self-positioning vehicle-mounted continuation of the journey system of unmanned plane according to claim 1, it is characterised in that:On support frame as described above Multiple locating parts for being used to limit unmanned plane vertical and straight movement are additionally provided with, multiple locating parts are separately positioned on conveyer belt both sides and lean on Nearly second detection sensor.
  10. 10. according to a kind of any self-positioning vehicle-mounted continuation of the journey systems of unmanned plane of claim 1-9, it is characterised in that:Also wrap Control module is included, the bearing system, alignment system, jacking system, continuation of the journey system are electrically connected with control module.
CN201711290985.6A 2017-12-08 2017-12-08 A kind of self-positioning vehicle-mounted continuation of the journey system of unmanned plane CN108016345A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109334541A (en) * 2018-08-24 2019-02-15 南京航空航天大学 A kind of vehicle-mounted multi-rotor unmanned aerial vehicle group cooperative system and method
CN109502039A (en) * 2018-11-30 2019-03-22 山东大学 A kind of vehicle-mounted unmanned aerial vehicle stops cabinet equipment, automatic replacement battery methods and system
CN109552789A (en) * 2018-10-30 2019-04-02 深圳市卓派自动化技术有限公司 Unmanned plane transfer robot, storage system and transfer method, Maintenance and Repair system and method
CN110239447A (en) * 2019-07-01 2019-09-17 百度在线网络技术(北京)有限公司 One cartridge and unmanned vehicle
WO2020051791A1 (en) * 2018-09-12 2020-03-19 深圳市大疆创新科技有限公司 Base station, control method for unmanned aerial vehicle, and unmanned aerial vehicle system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109334541A (en) * 2018-08-24 2019-02-15 南京航空航天大学 A kind of vehicle-mounted multi-rotor unmanned aerial vehicle group cooperative system and method
WO2020051791A1 (en) * 2018-09-12 2020-03-19 深圳市大疆创新科技有限公司 Base station, control method for unmanned aerial vehicle, and unmanned aerial vehicle system
CN109552789A (en) * 2018-10-30 2019-04-02 深圳市卓派自动化技术有限公司 Unmanned plane transfer robot, storage system and transfer method, Maintenance and Repair system and method
CN109502039A (en) * 2018-11-30 2019-03-22 山东大学 A kind of vehicle-mounted unmanned aerial vehicle stops cabinet equipment, automatic replacement battery methods and system
CN110239447A (en) * 2019-07-01 2019-09-17 百度在线网络技术(北京)有限公司 One cartridge and unmanned vehicle

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