CN108016345B - Unmanned aerial vehicle self-positioning vehicle-mounted endurance system - Google Patents
Unmanned aerial vehicle self-positioning vehicle-mounted endurance system Download PDFInfo
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- CN108016345B CN108016345B CN201711290985.6A CN201711290985A CN108016345B CN 108016345 B CN108016345 B CN 108016345B CN 201711290985 A CN201711290985 A CN 201711290985A CN 108016345 B CN108016345 B CN 108016345B
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- 238000003860 storage Methods 0.000 claims abstract description 41
- 239000003814 drug Substances 0.000 claims description 93
- 239000007924 injection Substances 0.000 claims description 32
- 238000002347 injection Methods 0.000 claims description 32
- 239000007788 liquid Substances 0.000 claims description 21
- 238000003756 stirring Methods 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 11
- 229940079593 drug Drugs 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 241000196324 Embryophyta Species 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000007789 sealing Methods 0.000 description 6
- 238000012271 agricultural production Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- 231100000419 toxicity Toxicity 0.000 description 1
- 230000001988 toxicity Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Public Health (AREA)
- Transportation (AREA)
- Health & Medical Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a self-positioning vehicle-mounted cruising system of an unmanned aerial vehicle, which comprises a bearing system, a lifting system, a positioning system and a cruising system; the bearing system comprises a lift car, an underframe and a closed shed body, wherein one side of the lift car is provided with an opening; the bottom of the underframe is provided with universal wheels, one side of the underframe is used for providing a landing platform of the unmanned aerial vehicle, the other side of the underframe is used for installing the lift car, and an opening of the lift car is opposite to the landing platform; the bottom of the closed shed body is in sliding connection with the underframe, and the top of the closed shed body is in sliding connection with the top of the car; the invention aims to provide a self-positioning vehicle-mounted continuous voyage system of an unmanned aerial vehicle, which can be carried without manual work or hoisting equipment, so that the unmanned aerial vehicle can be directly loaded or unloaded on the ground; meanwhile, the unmanned aerial vehicle can realize the continuous voyage of the unmanned aerial vehicle, and provides corresponding space for the storage of the unmanned aerial vehicle, so that the safety and the flexibility of the storage of the unmanned aerial vehicle are greatly improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a self-positioning vehicle-mounted endurance system of an unmanned aerial vehicle.
Background
At present, with the gradual large-scale land circulation and agricultural land production, the demands of using unmanned aerial vehicles for pesticide spraying and other operations are increasingly increasing in order to improve the agricultural production efficiency and reduce the agricultural production cost. The unmanned aerial vehicle operation area is mostly of complex terrains such as abrupt slopes, rubble, shrub and weed clusters, and most operation sites do not have unmanned aerial vehicle take-off and landing conditions. The existing unmanned aerial vehicle take-off and landing platform generally depends on manual carrying or on an upper transport vehicle and a lower transport vehicle by means of hoisting equipment, and is time-consuming and labor-consuming, so that the working efficiency and the working enthusiasm are greatly influenced.
The agricultural unmanned aerial vehicle needs the continuous liquid medicine of filling in the operation, how fast, safe give unmanned aerial vehicle medical kit add liquid medicine is the important guarantee that agricultural plant protection unmanned aerial vehicle efficiency improves. The plant protection unmanned aerial vehicle in the related art adopts a method of manually filling liquid medicine, and the filling method has very low efficiency and seriously affects the working efficiency of the agricultural plant protection unmanned aerial vehicle; meanwhile, the toxic medicine can be directly contacted in the process of manually filling the liquid medicine, so that the health of people is affected. Unmanned aerial vehicle needs continuous power supply at plant protection in-process, and when unmanned aerial vehicle operation in-process detects the electric quantity is not enough, need to return to the basic station on charge. Because the battery is installed in unmanned aerial vehicle's battery compartment, manual pull-out battery is very troublesome, has increased operating personnel's work load.
Disclosure of Invention
The invention aims to provide a self-positioning vehicle-mounted continuous voyage system of an unmanned aerial vehicle, which can be carried without manual work or hoisting equipment, so that the unmanned aerial vehicle can be directly loaded or unloaded on the ground; meanwhile, the unmanned aerial vehicle can be sustained, the battery is convenient to install and dismantle, the battery is convenient to charge, automatic medicine filling operation is achieved, operation is safer, corresponding space is provided for unmanned aerial vehicle storage, and the safety and flexibility of unmanned aerial vehicle storage are greatly improved.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the unmanned aerial vehicle self-positioning vehicle-mounted cruising system comprises a bearing system, a positioning system, a lifting system and a cruising system;
the bearing system comprises a lift car, an underframe and a closed shed body, wherein one side of the lift car is provided with an opening; the bottom of the underframe is provided with universal wheels, one side of the underframe is used for providing a landing platform of the unmanned aerial vehicle, the other side of the underframe is used for installing the lift car, and an opening of the lift car is opposite to the landing platform; the bottom of the closed shed body is in sliding connection with the underframe, and the top of the closed shed body is in sliding connection with the top of the car;
the positioning system comprises a supporting frame, a conveying device and a positioning device, wherein the supporting frame is arranged on a lifting platform, and a first detection sensor is arranged on the lifting platform; the conveying device comprises a driving motor, a driving roller, a driven roller and a conveying belt, wherein the driving roller and the driven roller are respectively arranged at two ends of the supporting frame, the conveying belt surrounds the driving roller and the driven roller, a second detection sensor is arranged on the side edge of the conveying belt, and the driving motor is used for driving the driving roller to drive the conveying belt to work; the positioning device comprises two positioning push rods which move relatively and are respectively positioned at two sides of the conveyor belt and are parallel to the conveyor belt, the height of each positioning push rod is higher than that of the conveyor belt, and a driving cylinder is arranged at the bottom of the supporting frame;
the lifting system comprises a driving device and a plurality of lifting push rods, the driving device is arranged in the car, the lifting push rods are uniformly distributed on the side wall of the underframe, and the driving device outputs power to the lifting push rods so as to enable the underframe to lift;
the continuous voyage system comprises a medicine storage box, a mechanical arm, vacuum equipment and charging equipment, wherein the mechanical arm is arranged at the opening of the elevator car, and the medicine storage box, the vacuum equipment and the charging equipment are arranged in the elevator car; the end part of the mechanical arm is provided with a rotary joint, and the rotary joint is rotationally connected with the mechanical arm; one end of the rotary joint is fixed with a medicine injection joint, the other end of the rotary joint is fixed with a vacuum chuck, and the vacuum chuck is communicated with vacuum equipment through an air duct; the medicine storage box is provided with a medicine injection pump, the medicine injection pump is provided with a pump outlet and a pump inlet, the pump inlet is communicated with the inside of the medicine storage box, and the pump outlet is communicated with the medicine injection joint through a liquid guide pipe; the charging device includes a battery holder for receiving a battery, the top of the battery having a holding surface.
In some embodiments, the closed shed body comprises a frame body, a shed surface and a closed door, wherein the frame body comprises a plurality of frames which are vertically arranged at intervals and are connected through connecting frames; the canopy surface is fixed on the circumferential direction of the frame body; the closed door is arranged at one end of the frame body far away from the car, and one end of the closed door is rotationally connected with the frame body.
In some embodiments, the connecting frame comprises a fixing frame and a telescopic frame, wherein the fixing frame is arranged at two ends of the frame body, and the telescopic frame is arranged in the middle of the frame body; the closed shed body is provided with a first lock catch, and the underframe is provided with a first lock catch matching piece matched with the first lock catch; the closing door is provided with a second lock catch, and the shed surface is provided with a second lock catch matching piece matched with the second lock catch; when the closed shed body is folded on the car, the closed door is fixed on the shed surface through the second lock catch and the second lock catch matching piece.
In some embodiments, a plurality of sliding wheels are respectively arranged at the bottom and the top of the inner side of the closed shed body, sliding rails are respectively arranged at the two sides of the underframe and the top of the car, and the closed shed body is respectively in sliding connection with the underframe and the car through the sliding wheels and the sliding rails.
In some embodiments, an extension plate is further included between the lifting push rod and the bottom frame, one end of the extension plate is rotatably connected with the bottom frame in the horizontal plane, and the other end of the extension plate is fixedly connected with the lifting push rod; the lifting push rod comprises a cylinder body and a telescopic rod, the cylinder body is fixed on the upper side of the extension plate, and the extension plate is provided with a through hole for the telescopic rod to pass through; the extension plate is further provided with a supporting vertical rod, the top of the supporting vertical rod is provided with a cover body, and the lower side surface of the cover body is in butt joint with the cylinder body.
In some embodiments, the battery support is provided with a plurality of battery accommodating grooves, the left side and the right side of the battery accommodating grooves are respectively provided with a battery guiding support piece, the front side of the battery accommodating grooves is provided with a charging connector, and the charging connector is electrically connected with an external charging device.
In some embodiments, the battery guide support comprises a mounting plate and two guide support posts vertically connected to the mounting plate, the two guide support posts being disposed at both ends of the side wall of the mounting plate and adjacent to the battery receiving groove.
In some embodiments, a stirring shaft is arranged in the medicine storage box, and a stirring motor is arranged on the medicine storage box; one end of the stirring shaft is connected with a blade, and the other end of the stirring shaft penetrates through the medicine storage box and is connected with the stirring motor.
In some embodiments, the support frame is further provided with a plurality of limiting members for limiting the vertical movement of the unmanned aerial vehicle, and the plurality of limiting members are respectively arranged on two sides of the conveyor belt and close to the second detection sensor.
In some embodiments, the system further comprises a control module, and the bearing system, the lifting system and the cruising system are all electrically connected with the control module.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a front view of a lift system;
FIG. 3 is a top view of the lift system;
FIG. 4 is a side view of a lift system;
FIG. 5 is a diagram of a carrier system frame;
FIG. 6 is a side view of the load bearing system;
FIG. 7 is a schematic diagram of a carrier system open architecture;
FIG. 8 is a schematic view of a closed state configuration of a load bearing system;
FIG. 9 is a top view of the load bearing system;
FIG. 10 is a schematic diagram of the operation of the endurance system;
FIG. 11 is a schematic diagram of the construction of a drug storage case;
FIG. 12 is a schematic view of a battery holder structure;
FIG. 13 is an enlarged view of FIG. 12 at A;
FIG. 14 is a schematic diagram of a positioning system configuration;
FIG. 15 is a top view of the positioning device;
FIG. 16 is a top view of the positioning device;
in the figure: 1000-bearing system, 2000-lifting system, 3000-cruising system, 4000-positioning system;
1100-car, 1200-chassis, 1300-closed shed, 1101-communication door, 1201-landing platform, 1202-slide rail, 1203-universal wheel, 1204-first latch fitting, 1301-frame, 1302-frame, 1303-connecting frame, 1304-shed face, 1305-closed door, 1306-fixing frame, 1307-expansion frame, 1308-first latch, 1309-second latch, 1310-second latch fitting, 1311-slide wheel;
2001-driving device, 2002-lifting push rod, 2003-extension plate, 2004-cylinder, 2005-telescopic rod, 2006-supporting upright rod, 2007-cover;
3200-mechanical arm, 3300-medicine storage box, 3400-charging equipment, 3500-battery bracket, 3201-medicine injection joint, 3205-vacuum chuck, 3206-vacuum equipment, 3207-rotary joint, 3301-medicine injection pump, 3302-pump inlet, 3303-pump outlet, 3304-stirring motor, 3305-stirring shaft, 3306-flowmeter, 3307-liquid level meter, 3308-electromagnetic valve, 3309-check valve, 3402-battery, 3406-control module, 3501-battery accommodating groove, 3502-battery guide support piece, 3503-charging joint, 3504-mounting plate, 3505-guide support column;
4200-conveyor, 4300-positioning device, 4101-support frame, 4102-first detection sensor, 4103-stopper, 4201-driving motor, 4202-driving roller, 4203-driven roller, 4204-conveyor belt, 4205-second detection sensor, 4301-positioning push rod, 4302-driving cylinder.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent.
As shown in fig. 1-16, a self-positioning vehicle-mounted endurance system of an unmanned aerial vehicle comprises a bearing system 1000, a lifting system 2000, a endurance system 3000 and a positioning system 4000;
as shown in fig. 2, the bearing system 1000 comprises a car 1100, a chassis 1200 and a closed shed body 1300, wherein one side of the car 1100 is provided with an opening, the bottom of the chassis 1200 is provided with universal wheels 1203, one side of the universal wheels is used for providing a landing platform 1201 of the unmanned aerial vehicle, the other side of the universal wheels is used for installing the car 1100, and the opening of the car 1100 is opposite to the landing platform 1201; the bottom of the closed shed body 1300 is in sliding connection with the underframe 1200, and the lower side surface of the top of the closed shed body 1300 is in sliding connection with the top surface of the car 1100.
As shown in fig. 3, the chassis 1200 serves as the main body of the unmanned aerial vehicle carrier, providing a landing platform 1201 on which the unmanned aerial vehicle can land, and the landing unmanned aerial vehicle will park on the landing platform 1201. The unmanned aerial vehicle parked on the landing platform 1201 may be one or more, which may be flexibly set according to deployment needs. The car 1100 may house various types of cooperating components for the drone, whether it be a service tool or replacement accessory for the drone, or a battery or fuel required for cruising, and other equipment or items associated with the drone, such as the drive 2001 in the elevator system 2000.
When unmanned aerial vehicle loads on take-off and landing platform 1201, seal canopy body 1300, car 1100 and take-off and landing platform 1201 can form the storage space that can supply unmanned aerial vehicle safety to stop jointly, and the unmanned aerial vehicle of landing parks in this storage space to furthest avoids the unmanned aerial vehicle of berthing to receive the influence of external environment, thereby realizes the transportation to unmanned aerial vehicle. It is readily conceivable that a plurality of locking elements may be provided on the landing platform 1201 for locking the unmanned aerial vehicle resting on the landing platform 1201.
As shown in fig. 14-16, the positioning system 4000 includes a support frame 4101, a conveying device 4200, and a positioning device 4300, the support frame 4101 is disposed on the lifting platform 1201, and a first detection sensor 4102 is disposed on the lifting platform 1201; the conveying device 4200 comprises a driving motor 4201, a driving roller 4202, a driven roller 4203 and a conveying belt 4204, wherein the driving roller 4202 and the driven roller 4203 are respectively arranged at two ends of the supporting frame 4101, the conveying belt 4204 is wound on the driving roller 4202 and the driven roller 4203, a second detection sensor 4205 is arranged on the side of the conveying belt 4204, and the driving motor 4201 is used for driving the driving roller 4202 to drive the conveying belt 4204 to work; the positioning device 4300 comprises two positioning push rods 4301 which move relatively and are respectively positioned on two sides of the conveyor belt 4204 and parallel to the conveyor belt 4204, the height of the positioning push rods 4301 is higher than that of the conveyor belt 4204, and a driving cylinder 4302, wherein the driving cylinder 4302 is arranged at the bottom of the support frame 4101;
as can be easily appreciated, as shown in fig. 14, the unmanned aerial vehicle is stopped on the conveyor belt 4204, the first detecting sensor 4102 detects the unmanned aerial vehicle, and sends a control signal to the control module, and the control module then controls the driving cylinder 4302 to act to drive the positioning push rods 4301 on two sides of the conveyor belt 4204 to move relatively to the conveyor belt 4204; when the telescopic rod on the driving cylinder 4302 moves to the end of the preset stroke, the positioning push rods 4301 connected with the telescopic rod push the unmanned aerial vehicle to the central position of the conveyor belt 4204, and the two positioning push rods 4301 clamp the unmanned aerial vehicle, so that the positioning of the unmanned aerial vehicle in the X direction is completed; after the driving cylinder 4302 reaches the end of the predetermined stroke, the two positioning push rods 4301 are slightly retracted according to the predetermined program, so that the positioning push rods 4301 are loosened by the unmanned aerial vehicle.
After the driving cylinder 4302 completes a series of actions, the control module immediately controls the driving motor to work, the driving motor drives the driving roller 4202 to drive the conveyor belt to work, the unmanned aerial vehicle is transmitted to a preset position and detected by the second detection sensor 4205, the second detection sensor 4205 sends a detection signal to the control module, the control module controls the driving motor to stop working, and meanwhile, the control module controls the driving cylinder again to enable the positioning push rods 4301 on two sides of the unmanned aerial vehicle to clamp the unmanned aerial vehicle, so that Y-direction positioning of the unmanned aerial vehicle is completed. Wherein, in the conveyer belt course of working, unmanned aerial vehicle's foot rest can cooperate with the locating part 4103 of conveyer belt both sides to restriction unmanned aerial vehicle is in the removal of Z to, accomplishes unmanned aerial vehicle's Z to the location. The unmanned aerial vehicle XYZ three-way positioning can be realized, manual movement is not needed, and the unmanned aerial vehicle is stopped at a preset fixed position.
As shown in fig. 2, the lifting system 2000 includes a driving device 2001 and a plurality of lifting pushrods 2002, the driving device 2001 is installed in the car 1100, the plurality of lifting pushrods 2002 are uniformly distributed on the side wall of the chassis 1200, and the driving device 2001 outputs power to the lifting pushrods 2002 to lift the chassis 1200. When the landing platform is carried with the unmanned aerial vehicle and needs to move in a short distance, the landing platform can push the underframe 1200 to move by virtue of the universal wheels 1102 arranged at the bottom; or long distance transport is required, the platform can be lifted by the lifting system 2000 so that a transport vehicle, such as a transport vehicle, can move the cargo box in an open state to the bottom of the platform without manual or hoisting equipment to transport the cargo box to the transport vehicle. It is easily conceivable that the lifting system 2000 is a hydraulic system or a pneumatic system, the driving device 2001 is an oil pump or an air compressor, and the driving device 2001 is connected to the plurality of lifting pushrods 2002 through pipes.
As shown in fig. 5, when the closed shed 1300 is folded on the car 1100 to expose the landing platform 1201, the landing platform 1201 is opened, and the unmanned aerial vehicle may land on the landing platform 1201 or may take off from the landing platform 1201. When the closed shed 1300 is unfolded, the car 1100, the unfolded closed shed 1300 and the underframe 1200 together form a closed space to enclose the lifting platform 1201.
The closed shed body 1300 is respectively connected with the underframe 1200 and the car 1100 in a sliding manner, through driving the closed shed body 1300, the position state of the closed shed body 1300 is adapted to the unmanned aerial vehicle stopping on the landing platform 1201, for example, the state of the closed shed body 1300 is matched with the landing or take-off action of the unmanned aerial vehicle, if the unmanned aerial vehicle is required to land, the unmanned aerial vehicle landing platform 1201 in the closed state is folded under the driving, the unmanned aerial vehicle landing platform 1201 is converted into the open state from the closed state, and after the landing of the unmanned aerial vehicle is completed, the closed shed body 1300 is unfolded under the driving, and the unmanned aerial vehicle landing platform 1201 is converted into the closed state from the open state; for the unmanned aerial vehicle taking-off and landing platform 1201 in the closed state, if taking-off of the unmanned aerial vehicle is required, the closed shed body 1300 is folded under the drive, so that the unmanned aerial vehicle taking-off and landing platform 1201 is converted from the closed state to the open state.
It is readily appreciated that the actuation of the enclosure 1300 may be achieved by manual pushing or pulling, or may be by electric or pneumatic means, which are not described in detail herein.
As shown in fig. 1, the cruising system 3000 includes a medicine storage box 3300, a mechanical arm 3200, a vacuum device 3206 and a charging device 3400, wherein the mechanical arm 3200 is disposed at an opening of the car 1100, and the medicine storage box 3300, the vacuum device 3206 and the charging device 3400 are disposed in the car 1100; the end part of the mechanical arm 3200 is provided with a rotary joint 3207, and the rotary joint 3207 is in rotary connection with the mechanical arm 3200; one end of the rotary joint 3207 is fixed with a medicine injection joint 3201, the other end of the rotary joint 3207 is fixed with a vacuum chuck 3205, and the vacuum chuck 3205 is communicated with a vacuum device 3206 through an air duct; the medicine chest 3300 is provided with a medicine injection pump 3301, the medicine injection pump 3301 is provided with a pump outlet 3303 and a pump inlet 3302, the pump inlet 3302 is communicated with the inside of the medicine chest 3300, and the pump outlet 3303 is communicated with a medicine injection joint 3201 through a liquid guide pipe; the charging device 3400 includes a battery support 3500, the battery support 3500 for receiving a battery 3402, the top of the battery 3402 having a holding surface.
The unmanned aerial vehicle detects that the self electric quantity is insufficient in the operation process, reaches a preset threshold value, starts a return program, returns to a preset return point, and the return point is arranged on the take-off and landing platform. The battery 3402 on the unmanned aerial vehicle is arranged in a battery fixing frame on the unmanned aerial vehicle and supplies power for components on the unmanned aerial vehicle through a control circuit; it will be appreciated that the battery 3402 is inserted onto the battery fixing frame by its own weight, and the battery 402 may be detached from or mounted on the battery fixing frame.
The unmanned aerial vehicle detects that the self-dosage is insufficient in the operation process, reaches a preset threshold value, starts a return program and returns to a preset return point. The medicine chest is arranged on the unmanned aerial vehicle and supplies medicine to a spraying component on the unmanned aerial vehicle through a pipeline; it can be understood that the medicine box can be detached from the unmanned aerial vehicle for further medicine injection, and medicine injection can be directly carried out on the unmanned aerial vehicle.
Specifically, as shown in fig. 10, the unmanned aerial vehicle is parked at a designated position, and by the action of the mechanical arm 3200, the medicine injection joint 3201 positioned on the rotary joint 3207 at the end part of the mechanical arm 3200 is contacted and abutted with the sealing joint at the top of the medicine box, so that the inside of the medicine box is communicated with the medicine storage box 3300 through the medicine injection joint 3201, and under the operation of the medicine injection pump 3301, the medicine liquid in the medicine storage box 3300 is pumped into the medicine box of the unmanned aerial vehicle; after the medicine box is filled, the mechanical arm 3200 acts to separate the medicine filling joint 3201 from the sealing joint, so that the sealing of the medicine box is completed.
The unmanned aerial vehicle is parked at a specified position, a vacuum chuck 3205 positioned on a rotary joint 3207 at the end part of the mechanical arm 3200 is contacted with a holding surface of the top surface of a battery 3402 through the action of the mechanical arm 3200, the vacuum chuck 3205 is communicated with a vacuum device 3206 through a guide pipe, after the vacuum device 3206 works, the vacuum chuck 3205 is enabled to reach vacuum, the top surface of the battery is held, and the mechanical arm 3200 can grasp the battery 3402; then through a series of actions of the mechanical arm 3200, the grabbed battery 3402 is placed in an empty area on the battery bracket 3500, and the battery 3402 is released, so that the unmanned aerial vehicle battery is dismounted; after the battery 3402 is removed, the mechanical arm 3200 grabs the standby battery on the battery bracket 3500, and installs the standby battery into a battery fixing frame on the unmanned aerial vehicle through a series of reverse actions, so that the installation of the unmanned aerial vehicle battery is completed.
It is readily appreciated that vacuum apparatus 3206 is a vacuum pump, or a combination of an air compressor and a vacuum generator, and that a vacuum chuck vacuum pump assembly of type EBMA-125-1 may be used.
As shown in fig. 6, the closed shed body 1300 includes: frame 1301, canopy 1304, and closure door 1305.
The frame body 1301 comprises a plurality of frames 1302, and the frames 1302 are vertically arranged at intervals and are connected through a connecting frame 1303; the canopy 1304 is fixed in the circumferential direction of the frame 1301; the closing door 1305 is provided at one end of the frame 1301 away from the car 1100, and one end of the closing door 1305 is rotatably connected to the frame 1301.
As shown in fig. 7, the closed shed 1300 is mainly composed of a frame 1301 formed by connecting a plurality of frames 1302, and shed surfaces 1304 are fixed to the top surface and the left and right side surfaces of the frame 1301 to form a shed that slides on the underframe. A closing door 1305 is fixedly connected to the front opening of the shed body, and the closing door 1305 may be a single door, a double door or any other door, and is mainly used for closing the opening at the front end of the shed body, so that a storage space can be formed by the closed shed body 1300, the car 1100 and the underframe 1200.
It will be appreciated that the storage space created by the closed shed 1300 on the landing platform 1201 may or may not be fully enclosed, as will be set according to the protection required by the drone.
The frame 1301 of the closed shed 1300 may be rigid, telescopic, or a mixture of rigid and telescopic. According to the structural size of the carrying device, when the horizontal length of the car 1100 is greater than the horizontal length of the landing platform 1201, a rigid structure is preferable, and the closed shed body 1300 can be completely contained on the car 1100 after the landing platform 1201 is closed; in contrast, the closed shed 1300 can only be fully stored on the car 1100 by the telescopic structure.
As shown in fig. 8, the connection frame 1303 includes a fixing frame 1306 and a telescopic frame 1307, the fixing frame 1306 is disposed at two ends of the frame 1301, and the telescopic frame 1307 is disposed in the middle of the frame 1301. Because the stability of the frame body of the rigid structure is far stronger than that of the frame body of the telescopic structure, the structure of mixing rigidity and telescopic structure is adopted for saving space. The rigid structure is located the both sides of support body, can be convenient for fix the position state of support body.
Wherein, as shown in fig. 9, a first latch 1308 is provided on the closed shed body 1300, and a first latch fitting 1204 which is matched with the first latch 1308 is provided on the underframe 1200. The two ends of the bottom of the closed shed body 1300 are respectively provided with a first lock catch 1308 for locking the unfolded or folded position state of the closed shed body 1300, the underframe 1200 is provided with a plurality of first lock catch matching pieces 1204 matched with the first lock catch 1308, the position of the first lock catch matching pieces 1204 is matched with the position state of the closed shed body 1300, and the closed shed body 1300 is fixed on the underframe 1200 through the first lock catch 1308 and the first lock catch matching pieces 1204.
The closing door 1305 is provided with a second lock 1309, and the shed surface 1304 is provided with a second lock matching piece 1310 matched with the second lock 1309; when the closed shed 1300 is folded over the car 1100, the closed door 1305 is fixed to the shed 1304 by the second lock 1309 and the second lock mating member 1310, so as to avoid the influence of the closed door 1305 on the open lifting platform 1201.
As shown in fig. 5, a plurality of sliding wheels 1311 are respectively arranged at the bottom and the top of the inner side of the closed shed body 1300, sliding rails 1202 are respectively arranged at the two sides of the underframe 1200 and the top of the car 1100, and the closed shed body 1300 is respectively in sliding connection with the underframe 1200 and the car 1100 through the sliding wheels 1311 and the sliding rails 1202. The sealed shed body 1300 is guided by the sliding wheels 1311 and the sliding rails 1202, so that the sealed shed body 1300 can safely and stably move on the underframe 1200, and meanwhile, the sliding rails 1202 are arranged at the top of the car 1100, so that the top of the sealed shed body 1300 can be ensured to be stable. The sliding wheel 1311 is adopted to reduce friction damping, and the sliding wheel 1311 can be driven by manual pushing and pulling, or the sliding wheel 1311 can be driven by a motor to complete the driving of the closed shed body 1300. The side wall of the car 1100 is provided with a communication door 1101 which communicates with the inside of the car 1100, and the car 1100 can be accessed to perform various operations under the condition of closing the landing platform 1201.
As shown in fig. 2, an extension plate 2003 is further included between the lifting push rod 2002 and the chassis 1200, one end of the extension plate 2003 is connected with the side wall of the chassis 1200, and the other end of the extension plate 2003 is connected with the lifting push rod 2002; in some embodiments, the extension plate 2003 is detachably coupled to the lift ram 2002 and the chassis 1200, respectively. The provision of the extension plate 2003 ensures that the actuator of the lifting system 2000, i.e. the lifting ram 2002, can be moved away from the chassis 1200, and that the lifted lifting ram 2002 does not come into contact with the side of the cargo compartment, so that the chassis 1200 can be placed completely within the cargo compartment. Of course, after placement into the cargo compartment, it is necessary to retract the extended lift pins 2002 and remove the extension plate 2003 from the chassis 1200 so that the cargo compartment can be closed.
It will be appreciated that as shown in fig. 3, one end of the extension plate 2003 is rotatably connected to the chassis 1200 in a horizontal plane, and the other end of the extension plate 2003 is fixedly connected to the lifting pushrod 2002. For convenience of use, the extension plate 2003 is rotatably connected to the chassis 1200, so that the extension plate 2003 can be received at a side of the chassis 1200, the width of the carrier is reduced, the chassis 1200 lifted and placed to the cargo compartment can be received in the cargo compartment, and the cargo compartment can be closed, thereby increasing the safety of transportation.
In some embodiments, as shown in fig. 2, the lifting pushrod 2002 includes a cylinder 2004 and a telescopic rod 2005, the cylinder 2004 is fixed on the upper side of the extension plate 2003, and the extension plate 2003 is provided with a through hole through which the telescopic rod 2005 passes. It will be appreciated that the cylinder 2004 corresponds to a different system, such as a hydraulic system or a pneumatic system, being a hydraulic cylinder or an air cylinder. In order to ensure the stability of the driving process, the extension plate 2003 is further provided with a supporting upright rod 2006, the top of the supporting upright rod 2006 is provided with a cover 2007, the lower side surface of the cover 2007 is abutted with the cylinder 2004, so that the top and the bottom of the cylinder 2004 are limited, and the cylinder 2004 cannot shake in the moving process of the extension rod 2005.
It is to be readily understood that the cylinder 2004 and the extension plate 2003 may be connected by bolts, and the lifter bar 2002 is higher in its bottom than the bottom of the universal wheel 1203 in the initial state.
As shown in fig. 12 to 13, a plurality of battery receiving slots 3501 are provided on the battery bracket 3500, battery guide supports 3502 are provided on both left and right sides of the battery receiving slots 3501, a charging connector 3503 is provided on a front side of the battery receiving slots 3501, and the charging connector 3503 is electrically connected to an external charging device. The battery guide support 3502 includes a mounting plate 3504 and two guide support columns 3505, the guide support columns 3505 are vertically connected with the mounting plate 3504, and the two guide support columns 3505 are disposed at both ends of a side wall of the mounting plate 3504 and are close to the battery housing slot 3501. After being sucked by the vacuum chuck 3205, the battery pack on the unmanned aerial vehicle is moved to a charging station by the mechanical arm 3200 and then is placed in the charging station for charging; and then sucking the charged battery assembly to the unmanned aerial vehicle station at the charging station, and completing the installation of the battery 3402.
As shown in fig. 11, a stirring shaft 3305 is provided in the medicine box 3300, and a stirring motor 3304 is provided on the medicine box 3300; one end of the stirring shaft 3305 is connected with a blade, and the other end of the stirring shaft 3305 penetrates through the medicine storage box 3300 and is connected with the stirring motor 3304. The medicine storage box 3300 is also provided with a flowmeter 3306, and the flowmeter 3306 is used for detecting the medicine injection quantity of the medicine injection pump 3301. The medicine storage box 3300 further comprises a liquid level meter 3307, and the liquid level meter 3307 is used for observing the residual medicine in the medicine storage box 3300. The pump inlet 3302 is provided with a solenoid valve 3308 and the pump outlet 3303 is provided with a check valve 3309.
The liquid level meter 3307 is arranged on the side face of the medicine storage box 3300, so that the liquid storage condition in the medicine storage box can be known in time, and the operation of staff is facilitated; a window is formed in the top of the medicine storage box 3300 and close to the side edge, a sealing cover is arranged on the window, a worker can pour medicine powder and water into the medicine storage box 3300 through the window, and stirring and mixing are carried out through a stirring shaft 3305 in the medicine storage box, so that medicine liquid with preset concentration and uniform mixing is obtained; when the drug injection pump 3301 pumps the drug solution into the drug tank, the flow meter 3306 detects the drug amount in the drug tank, and signals are timely given to stop the drug injection pump 3301. It is easy to think that the liquid medicine sprayed by the plant protection unmanned aerial vehicle has toxicity, and in order to avoid the leakage of the liquid medicine, two openings of the medicine injection pump 3301 are all provided with valves.
The system further comprises a control module 3406, and the bearing system 1000, the lifting system 2000 and the endurance system 3000 are all electrically connected with the control module 3406. The control module 3406 is used for detecting the position of the unmanned aerial vehicle and controlling the actions of the mechanical arm 3200, the vacuum equipment 3206 and the drug injection pump 3301. When the unmanned aerial vehicle detects that the medicine chest needs to be filled with liquid, the unmanned aerial vehicle returns to a designated position, after the control module detects the unmanned aerial vehicle, the unmanned aerial vehicle is fixed at a preset operation station through the positioning system 4000, the mechanical arm 3200 is controlled to act, the rotary joint 3207 is driven to rotate, and the medicine injection joint 3201 is connected with a sealing joint on the medicine chest of the unmanned aerial vehicle; at this time, the control module 3406 opens the solenoid valve 3308 on the injection pump 3301 to control the injection pump 3301 to work, and the liquid medicine enters the medicine box through the injection pump 3301; the liquid amount in the medicine box is detected by a flowmeter 3306 on the medicine injection pump 3301, when the liquid medicine flow reaches a preset threshold value, the flowmeter 3306 sends out a signal, the control module 3406 receives the signal and controls the medicine injection pump 3301 to stop working, and the electromagnetic valve 3308 is closed; after stopping the operation for 5 seconds, the mechanical arm 3200 acts to separate the medicine injection joint 3201 from the sealing joint, so that the residual liquid is prevented from exuding.
When unmanned aerial vehicle detects that the electric quantity is insufficient, battery 3402 needs to be changed, return to the assigned position, control module 3406 detects unmanned aerial vehicle after, fix unmanned aerial vehicle at the operation station of predetermineeing through positioning system 4000, control arm 3200 action, drive rotary joint 3207 rotates, make vacuum chuck 3205 be just to the holding surface on the battery 3402 downwards, vacuum equipment 3206 inhale, put the function and pass through control module 3406's control signal control, vacuum chuck 3205 during operation, can detect whether the actuation is or loosen completely through vacuum or atmospheric pressure, give the signal that arm 3200 can remove to control module 3406. The control module 3406 completes automatic work of the mechanical arm 3200 and the vacuum equipment 3206 by setting a series of instructions, does not need manual operation, realizes complete automation and reduces the labor intensity of workers.
In the operation process of the unmanned aerial vehicle, the invention can provide the cruising ability for the unmanned aerial vehicle; the unmanned aerial vehicle can be freely opened and closed in a retractable manner in a non-operation process, so that a fully-closed or semi-closed storage space is provided for the parked unmanned aerial vehicle, the unmanned aerial vehicle can freely execute take-off and landing behaviors while the unmanned aerial vehicle is guaranteed to be carried, the unmanned aerial vehicle is free from the influence of external environments, such as external bad weather, the service life of the unmanned aerial vehicle is greatly prolonged, and meanwhile, the unmanned aerial vehicle can be loaded into a transport cargo box without relying on manpower or with the help of hoisting equipment, and the safety and convenience of unmanned aerial vehicle storage and transport are enhanced.
There are, of course, many other embodiments of the invention that can be made by those skilled in the art in light of the above teachings without departing from the spirit or essential scope thereof, but that such modifications and variations are to be considered within the scope of the appended claims.
Claims (8)
1. The utility model provides an unmanned aerial vehicle self-positioning vehicle duration system which characterized in that: the system comprises a bearing system, a positioning system, a lifting system and a cruising system;
the bearing system comprises a lift car, an underframe and a closed shed body, wherein one side of the lift car is provided with an opening; the bottom of the underframe is provided with universal wheels, one side of the underframe is used for providing a landing platform of the unmanned aerial vehicle, the other side of the underframe is used for installing the lift car, and an opening of the lift car is opposite to the landing platform; the bottom of the closed shed body is in sliding connection with the underframe, and the top of the closed shed body is in sliding connection with the top of the car;
the positioning system comprises a supporting frame, a conveying device and a positioning device, wherein the supporting frame is arranged on a lifting platform, and a first detection sensor is arranged on the lifting platform; the conveying device comprises a driving motor, a driving roller, a driven roller and a conveying belt, wherein the driving roller and the driven roller are respectively arranged at two ends of the supporting frame, the conveying belt surrounds the driving roller and the driven roller, a second detection sensor is arranged on the side edge of the conveying belt, and the driving motor is used for driving the driving roller to drive the conveying belt to work; the positioning device comprises two positioning push rods which move relatively and are respectively positioned at two sides of the conveyor belt and are parallel to the conveyor belt, the height of each positioning push rod is higher than that of the conveyor belt, and a driving cylinder is arranged at the bottom of the supporting frame;
the lifting system comprises a driving device and a plurality of lifting push rods, the driving device is arranged in the car, the lifting push rods are uniformly distributed on the side wall of the underframe, and the driving device outputs power to the lifting push rods so as to enable the underframe to lift;
the continuous voyage system comprises a medicine storage box, a mechanical arm, vacuum equipment and charging equipment, wherein the mechanical arm is arranged at the opening of the elevator car, and the medicine storage box, the vacuum equipment and the charging equipment are arranged in the elevator car; the end part of the mechanical arm is provided with a rotary joint, and the rotary joint is rotationally connected with the mechanical arm; one end of the rotary joint is fixed with a medicine injection joint, the other end of the rotary joint is fixed with a vacuum chuck, and the vacuum chuck is communicated with vacuum equipment through an air duct; the medicine storage box is provided with a medicine injection pump, the medicine injection pump is provided with a pump outlet and a pump inlet, the pump inlet is communicated with the inside of the medicine storage box, and the pump outlet is communicated with the medicine injection joint through a liquid guide pipe; the charging device comprises a battery support, a battery holder and a battery storage unit, wherein the battery support is used for accommodating a battery, and the top of the battery is provided with a holding surface;
an extension plate is further arranged between the lifting push rod and the underframe, one end of the extension plate is rotationally connected with the underframe in a horizontal plane, and the other end of the extension plate is fixedly connected with the lifting push rod; the lifting push rod comprises a cylinder body and a telescopic rod, the cylinder body is fixed on the upper side of the extension plate, and the extension plate is provided with a through hole for the telescopic rod to pass through; the extension plate is also provided with a supporting upright rod, the top of the supporting upright rod is provided with a cover body, and the lower side surface of the cover body is abutted with the cylinder body;
be equipped with a plurality of battery holding tanks on the battery support, the left and right sides of battery holding tank is provided with battery direction support piece respectively, and the front side of battery holding tank is provided with charging connector, and charging connector is connected with outside charging device electricity.
2. The unmanned aerial vehicle self-positioning vehicle-mounted endurance system of claim 1, wherein: the closed shed body comprises a frame body, a shed surface and a closed door, wherein the frame body comprises a plurality of frames which are vertically arranged at intervals and are connected through connecting frames; the canopy surface is fixed on the circumferential direction of the frame body; the closed door is arranged at one end of the frame body far away from the car, and one end of the closed door is rotationally connected with the frame body.
3. The unmanned aerial vehicle self-positioning vehicle-mounted endurance system of claim 2, wherein: the connecting frame comprises a fixing frame and a telescopic frame, the fixing frame is arranged at two ends of the frame body, and the telescopic frame is arranged in the middle of the frame body; the closed shed body is provided with a first lock catch, and the underframe is provided with a first lock catch matching piece matched with the first lock catch; the closing door is provided with a second lock catch, and the shed surface is provided with a second lock catch matching piece matched with the second lock catch; when the closed shed body is folded on the car, the closed door is fixed on the shed surface through the second lock catch and the second lock catch matching piece.
4. The unmanned aerial vehicle self-positioning vehicle-mounted endurance system of claim 1, wherein: the bottom and the top of the inner side of the closed shed body are respectively provided with a plurality of sliding wheels, the two sides of the underframe and the top of the car are respectively provided with sliding rails, and the closed shed body is respectively in sliding connection with the underframe and the car through the sliding wheels and the sliding rails.
5. The unmanned aerial vehicle self-positioning vehicle-mounted endurance system of claim 1, wherein: the battery guide support piece comprises a mounting plate and two guide support columns, wherein the guide support columns are vertically connected with the mounting plate, and the two guide support columns are arranged at two ends of the side wall of the mounting plate and close to the battery accommodating groove.
6. The unmanned aerial vehicle self-positioning vehicle-mounted endurance system of claim 1, wherein: the medicine storage box is internally provided with a stirring shaft, the medicine storage box is provided with a stirring motor, one end of the stirring shaft is connected with a blade, and the other end of the stirring shaft penetrates through the medicine storage box and is connected with the stirring motor.
7. The unmanned aerial vehicle self-positioning vehicle-mounted endurance system of claim 1, wherein: and a plurality of limiting parts used for limiting the vertical movement of the unmanned aerial vehicle are further arranged on the supporting frame, and the limiting parts are respectively arranged on two sides of the conveying belt and close to the second detection sensor.
8. The unmanned aerial vehicle self-positioning vehicle-mounted endurance system according to any one of claims 1-7, wherein: the system further comprises a control module, and the bearing system, the positioning system, the lifting system and the cruising system are all electrically connected with the control module.
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| WO2019232753A1 (en) * | 2018-06-07 | 2019-12-12 | 深圳市大疆创新科技有限公司 | Base station for unmanned aerial vehicle and positioning mechanism thereof |
| CN109334541B (en) * | 2018-08-24 | 2020-07-28 | 南京航空航天大学 | Vehicle-mounted multi-rotor unmanned aerial vehicle cluster cooperation system and method |
| CN110785354A (en) * | 2018-09-12 | 2020-02-11 | 深圳市大疆创新科技有限公司 | Base station, control method of unmanned aerial vehicle and unmanned aerial vehicle system |
| CN109552789B (en) * | 2018-10-30 | 2021-01-01 | 深圳市卓派自动化技术有限公司 | Unmanned aerial vehicle transfer robot, storage system, transfer method, maintenance and overhaul 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 |
| CN114313288A (en) * | 2022-01-14 | 2022-04-12 | 深圳高度创新技术有限公司 | Full-automatic airport of trading of unmanned aerial vehicle |
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