CN108466567A - Multi-functional unmanned plane moors steady charging platform and method - Google Patents
Multi-functional unmanned plane moors steady charging platform and method Download PDFInfo
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- CN108466567A CN108466567A CN201810304793.4A CN201810304793A CN108466567A CN 108466567 A CN108466567 A CN 108466567A CN 201810304793 A CN201810304793 A CN 201810304793A CN 108466567 A CN108466567 A CN 108466567A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention discloses a kind of multi-functional unmanned planes to moor steady charging platform and method, and wherein platform includes pedestal and hollow cylinder, and hollow cylinder is fixed on the base；Upper and lower two are equipped in the hollow cylinder in the hollow round table being coplanar with, the hollow round table of lower section is embedded in semicircle sphere；Signal transferring device, drone status monitoring device and the wireless power supply of unmanned plane are equipped in semi-round ball body；Gap between lower section round platform and hemisphere is equipped with the groove bands of circular ring shape, and width is consistent with the diameter of unmanned plane lifting/lowering support wheel or slightly larger than the wheel diameter that rises and falls；Semicircle sphere bottom is connect by multiple hydraulic columns with pedestal.The structure of the steady charging platform of pool of the present invention substantially reduces occupied space, and unmanned plane can be made to be securely seated between on platform, it, will not be because of the bad weathers such as high sea or the road conditions jolted either in ocean or in land, and unmanned plane is caused to fall, it causes damages.
Description
Technical field
The present invention relates to unmanned plane applied technical fields, and in particular to a kind of multifunctional ship steady charging platform of unmanned plane pool
And charging method.
Background technology
With the development of modern science and technology, especially information technology (including sensing technology, computer technology and communication skill
Art) and satellite positioning tech on land and deepwater successful application, so that the mode of people's daily life and environment is turned over
It cover ground variation, unmanned plane with its maneuverability, rapid reaction, unmanned flight, operation require it is low, take off without runway or its
The advantage of the uniqueness such as its ancillary equipment, increasingly has been favored by people.And currently, the use scope of unmanned plane has spread to army
Thing, scientific research, civilian three big field, and application is very wide.
But current unmanned plane application has following two main problems：
1. during actually cruising, the problems such as there are cruise duration is short, cruising range is limited, unmanned plane needs are frequently worn
Shuttle seriously limits unmanned plane in terms of maritime affairs cruise, information in the field collection and detecting in land charging base and operation waters
Application.
2. unmanned plane can not ensure that unmanned function is steadily docked in specified region when specified region is landed.
Therefore, more efficiently charging, the method for energizing and steadily berthing are conducive to meet the normal work of unmanned plane for research
The needs of work have important social effect and application value.
1. when unmanned plane maritime affairs cruise at sea：
It is a kind of important means of support area marine safety that maritime affairs unmanned plane, which carries out maritime affairs cruise, including carries out sea and hold
Method, search, relief, monitoring, navigation mark inspection and navigation channel mapping etc..So unmanned plane is frequently necessary to drop to ship or other loads
It is charged or is detected on body, it is possible that problems with：
(1) airplane parking area is needed when unmanned plane drops on ship so that its landing need to occupy a large amount of hull spaces, increase
The energy consumption of ship；Problem is more prominent when multiple UAVs landing simultaneously.
(2) it needs personnel when unmanned plane aboard ship lands to recycle it, personnel are also needed to after recycling is manually
It plugs in, and charges, and is not implemented really " nobody ".
(3) when unmanned plane is parked aboard ship or on other carriers, when hull acutely sways, can not ensure smoothly to stop
It puts, not only influences its normal work or charging, be more likely to therefore cause damage even to fall into water body.
2. unmanned plane external information out of office is collected and is detected：
For urban compact Super High fire, petrochemical plant or materials warehouse fire, stability maintenance security, emergency relief, dash forward
Send out event handling situations such as, unmanned plane can accurate and effective carry out detecting real-time in time and effectively pass back instant sound, video and
Picture data, especially in tight bad environment and personnel are difficult to reach or the advantage of close region unmanned plane is more prominent.But
It is possible that problems in above-mentioned scene：Under emergency condition, when unmanned plane needs to complete information collection and detecting etc. times
When business, unmanned plane needs charge on vehicular platform, cannot achieve recharging and energy supply, it could even be possible to fall, from
And influence normal use.
In view of the above problems, the present invention devises a kind of steady charging platform of novel and multifunctional unmanned plane pool, ensure unmanned plane
It can smoothly take off, land, park and charge in narrow space, to realize real Unmanned operation.
Invention content
The purpose of the present invention is to provide a kind of novel structure design, ensures that unmanned plane can accurately drop to platform
On, and it is tentatively fixed, ensure its stability parked；A kind of fixing means again are provided, parks or fills in unmanned plane
When electric, the influence of stormy waves, rainwater and road conditions of jolting is protected it from；A kind of Drainage Design is provided, unmanned plane is made not to be submerged by water；
Unmanned plane wireless charging function is provided, to extend its cruise time；A kind of mechanical sensing device is provided, keeps unmanned plane steady
It takes off.
The present invention in order to achieve the above objectives, provides a kind of steady charging platform of multi-functional unmanned plane pool, which is characterized in that packet
Pedestal and hollow cylinder are included, hollow cylinder is fixed on the base；It is in be coplanar with that upper and lower two are equipped in the hollow cylinder
The hollow round table of hollow round table, lower section is embedded in semicircle sphere；
Signal transferring device, drone status monitoring device in semi-round ball body equipped with unmanned plane and wireless power dress
It sets；
Gap between lower section round platform and hemisphere is equipped with the groove bands of circular ring shape, the diameter of width and unmanned plane lifting/lowering support wheel
Unanimously or slightly larger than the wheel diameter that rises and falls；
Semicircle sphere bottom is connect by multiple hydraulic columns with pedestal.
Above-mentioned technical proposal is connect, there are four the upright apertures of square distribution for the hollow round table inner wall of lower section, upright small
Hole passes through rigid pillars, the hollow round table of lower section to be connect with pedestal by rigid pillars.
Above-mentioned technical proposal is connect, the hollow round table of lower section passes through non-telescoping with the pedestal cylindricality platform below semicircle sphere
Rigid pillars connection.
Above-mentioned technical proposal is connect, which further includes multi-source energy supplying system, by solar energy, wind energy collecting, and is led to
It is that unmanned plane carries out wireless charging to cross wireless power supply.
Above-mentioned technical proposal is connect, multi-source energy supplying system includes solar panel and wind power generating set with vertical shaft, the two
Power generation cascade simultaneously stores input voltage lifting/voltage reducing to accumulator rated charging voltage through power supply lifting/voltage reducing module.
Above-mentioned technical proposal is connect, pedestal is circular platform, and diameter is identical as the diameter of hollow cylinder.
It connects above-mentioned technical proposal, is equipped with self-shooter at the top of hollow cylinder, when closing gate, unmanned plane is forbidden to charge.
Above-mentioned technical proposal is connect, the self-shooter is multiple fan shape baffles, is in petal open shape when self-shooter is opened
State.
Above-mentioned technical proposal is connect, it further includes door system, door automatic closing system and safety system to moor steady charging platform,
Door system is connect by mechanical structure with gate, and automatic closing system is connect by electric mechanism with gate.
Above-mentioned technical proposal is connect, the steady charging platform of the pool further includes velocity response system and balance induction system, when nobody
After machine falls steady charging, start the fixation to unmanned plane；After unmanned plane charging complete, take off before continuing cruise, velocity response system
System obtains the rotary speed information of unmanned plane propeller, and balance induction system incudes the equilibrium condition of platform, reaches in revolution speed of propeller
Preset value and platform are in equilibrium condition, and unmanned plane is fixed in releasing.
The application method that steady charging platform is moored based on above-mentioned multi-functional unmanned plane, is included the following steps：
(1) when unmanned plane needs charging, chosen distance is nearest first and the steady charging platform of available pool, and flies to platform
Top sends identification information to charging platform；
(2) it moors steady charging platform to judge whether to land according to the relevant information of unmanned plane, the starting gate if it can land；
(3) it moors steady charging platform to guide unmanned plane landing by bootstrap, unmanned plane is made to be adjusted to most suitable
Angle and smoothly contact platform base, it is smoothly sliding when unmanned aerial vehicle body is shut down close to above round platform or when being contacted with round platform
Enter platform；
(4) unmanned plane is fallen into after annular groove, and mooring steady charging platform is made by fixed system between hemisphere and round platform
Gap be gradually reduced, block unmanned plane lifting/lowering support wheel, complete the fixation to unmanned plane；
(5) it moors steady charging platform and starts charging system, charging energy supply is carried out to unmanned plane in a manner of wireless charging；
(6) after unmanned plane charging, start propeller and reach departure rotary speed, mooring steady charging platform should be by the sense of equilibrium
System judges that the equilibrium condition of itself meets requirement of taking off, and releases and fixes, and unmanned plane takes off.
The beneficial effect comprise that：The present invention is landed with traditional airplane parking area compared with environment, and pool of the invention surely fills
The structure of level platform substantially reduces occupied space, and unmanned plane can be made to be securely seated between on platform, either in ocean
In or in land, unmanned plane will not be caused to fall because of the bad weathers such as high sea or road conditions of jolting, caused damages.
Further, the design of gate avoids unmanned plane since type size is not inconsistent, and the case where wrong drop, safeguard protection
It is impaired by folder that system can effectively prevent unmanned plane.
Further, after unmanned plane is drop in platform, fuselage positions can be constantly adjusted in sliding, it is recessed until sticking into
Slot reaches stable, to which serious forgiveness increases, so that landing is more stablized, safety.
Further, sealing installation and contactless use can be taken by mooring the wireless charging function of steady platform, can be in sleet
It is used under weather and improves reliability；Wireless charging device can theoretically prevent electrical leakage problems without exposed conducting point；Together
When also simplify charging flow, realize unmanned management.
Further, the design of the mechanical sensing device of steady platform is moored, unmanned plane is forced to have in platform in balance condition
Lower and revolution speed of propeller can just take off after reaching rated speed, ensure that unmanned plane being capable of safe take-off after charging complete.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：
Fig. 1 is the structural perspective that the multi-functional unmanned plane of the embodiment of the present invention moors steady charging platform；
Fig. 2 is the structural schematic diagram that the multi-functional unmanned plane of the embodiment of the present invention moors steady charging platform；
Fig. 3 is the structural schematic diagram for the gate control that the multi-functional unmanned plane of the embodiment of the present invention moors steady charging platform；
Fig. 4 is the structural schematic diagram for the wireless power supply that the multi-functional unmanned plane of the embodiment of the present invention moors steady charging platform；
Fig. 5 is the work flow diagram that the multi-functional unmanned plane of the embodiment of the present invention moors steady charging platform.
In figure：1 gate, 2 hollow cylinders, 3 semicircle spheres, 4 groove bands, 5 pedestals, 6 rigid pillars, 7 hydraulic columns.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
As depicted in figs. 1 and 2, multi-functional unmanned plane of the invention moors steady charging platform, including pedestal 5 and hollow cylinder 2,
Hollow cylinder is fixed on the base；Upper and lower two are equipped in the hollow cylinder in the hollow round table being coplanar with, the sky of lower section
Heart round platform is embedded in semicircle sphere 3；
Signal transferring device, drone status monitoring device in semi-round ball body equipped with unmanned plane and wireless power dress
It sets；
Gap between lower section round platform and hemisphere is equipped with the groove bands 4 of circular ring shape, and width is straight with unmanned plane lifting/lowering support wheel
Diameter is consistent or slightly larger than the wheel diameter that rises and falls；
Semicircle sphere bottom is connect by multiple hydraulic columns 7 with pedestal.
The multi-functional unmanned plane moors steady charging platform and uses a kind of novel structure design, and provides corresponding unmanned plane drop
Means are fallen, are basic shape with platform cylinder, table top is evenly distributed on flat in 360 ° of petal-shaped equipped with self-shooter design
Platform surrounding, being in open state under normal circumstances can be automatically closed in case of exceptional circumstances.Top half is upper inside cylinder
Narrow formula hollow round table under width not only contributes to unmanned plane slide-in, encounters stormy waves weather and also can effectively prevent unmanned plane and skids off；Lower half
Part is up-narrow and down-wide formula hollow round table, and composition stereochemical structure, lower half portion are combined with the semicircle sphere structure being embedded in below
The design of hollow round table is convenient for the insertion of semicircle sphere, being coplanar with for upper and lower round platform to improve the integrally-built stabilization of platform
Property, it is this to design the space availability ratio for also adding cylinder.
The round platform inner wall edge of lower section sets the aperture there are four square distribution, and aperture just matches with rigid pillars 6,
The round platform of lower section is connect with the pedestal cylindricality platform below semicircle sphere by non-telescoping rigid pillars, to reach mutual branch
The purpose of support.
There are gaps between the round platform and hemisphere of lower section, and a groove bands design is added on hemisphere, and groove bands are circle
Annular, width are consistent with the diameter of unmanned plane lifting/lowering support wheel or slightly larger than the wheel diameter that rises and falls.It is movable after enabling unmanned plane drop to platform
It is limited, to increase the stability that unmanned plane is parked.
Semicircle sphere bottom uses hydraulic bolt formula jacking system, that is, hydraulic column, triangular in shape to be evenly distributed on its bottom.
Steady platform is moored first to guide the landing of unmanned plane by bootstrap, when unmanned plane drops to above charging platform,
Drone status monitoring device can monitor whether unmanned plane has dropped to the reasonability of platform and its landing, work as landing
When unreasonable, the angle of unmanned plane and platform can be constantly adjusted, reaches correction purpose, realizes the accurate landing of unmanned plane.
Before unmanned plane will land, platform can judge its fuselage size by program, such as encounter size not
Gate can be automatically closed in suitable unmanned plane, and unmanned plane is prevented to fall into platform interior.Sleet or stormy waves weather are such as encountered, and is not had
There are the case where unmanned plane landing, the gate of table top that can also be automatically closed.Further, such as platform failure, gate
It can be constantly in closed state, prevent unmanned plane from landing, until platform fault excludes.
The operation principle of gate is similar with elevator, but tends to simplify.Gate is petal-shaped, is evenly distributed on four
The round platform in week, it and top is attached by hinge.As shown in figure 3, the control system of gate include mainly door system, it is automatic
Closing system and safety system.Door system may include with door system and/or door system, have cruise unmanned plane landing when, if
Unmanned plane size is not inconsistent or when no unmanned plane lands, and encounters sleet stormy waves weather, the two be by or door system control, only
To meet there are one condition, gate may turn off.The effect of automatic closing system is that it is dynamic to provide gate when platform breaks down
The electric system of power can be such that gate is automatically closed.Safety system is made of safety edge and light curtain, the former is a kind of machine
Electric integral type shutdown clamp-proof safety device, the latter belong to induction type protective device, and effect is to prevent unmanned plane impaired by folder.
Safety edge belongs to a soft door on gate, when gate contacts (safety edge) in closing process or incudes
When (light curtain) arrives object, a switching value being connected on door can be to one enabling signal of switch board, and gate opens the door, to reach
The purpose of unmanned plane is not hindered.
Light curtain is most of by infrared transmitter and receiver, the power pack and Special flexible cable four mounted on gate both sides
Composition.There are 16 infrared transmitting tubes in transmitter, under the control of micro-control unit, transmit-receive tube is opened successively, from upper
And lower continuous scanning gate region, it forms an intensive infrared ray and protects light curtain.When any of which Ray Of Light is blocked,
Control system exports enabling signal immediately, and gate, that is, phase down simultaneously inverts unlatching, until obstacle, that is, unmanned plane leaves warning
Region late gate can normal switching-off, to achieve the purpose that safeguard protection.
Hollow round table largest circumference radius surface is typically designed as 350mm, and guarantee has enough sizes that can accommodate general nothing
It is man-machine to drop to platform interior.
The gradient of round platform inner wall, which is generally 20 degree of -45 degree, to be advisable, and the best gradient is 30 degree or so, is both avoided that nothing in this way
Man-machine slip velocity is too fast to be caused to damage, and can prevent unmanned plane from sliding slowly, reduces efficiency.
Hollow round table smallest circumference radius surface is typically designed as 220mm, in length and width with the machine of general unmanned plane
Body matches, in order to fixation.
The cross-sectional radius surface of semicircle sphere from top to bottom will be controlled in 0-180mm, cannot be excessive, to reserve and lower round platform foot
Enough gaps drain convenient for platform.
Round platform inner surface is paved with plastic sponge, first, playing the role of buffering, when unmanned plane lands from high-altitude, due to certainly
Body gravity fall, impact force are big, it is not only possible to and landing platform is damaged, is more likely to destroy unmanned plane itself, and plastics are extra large
Silk floss can undoubtedly play the role of bumper and absorbing shock.Second, playing the role of drag reduction, when unmanned plane is dropped on platform, itself can
The influence of gravity can be added there is also speed, the speed of downslide is possible to too fast, is not only likely to cause platform and unmanned plane
The damage of itself is more likely to that drone status monitoring device is made to have little time to react, and to fix, unmanned plane is caused to fall,
To keep loss more serious.And plastic sponge can increase the resistance during unmanned plane glides, and can reach slow
The effect of downslide.
Fixed system designs platform again：
The fixed system for mooring steady platform is mainly made of three parts, including following embedded hemispheroidal groove-like design,
Drone status monitoring device and hemisphere lifting gear.The described groove-like design, be dug out in hemisphere upper surface it is proper
The annular space of unmanned plane lifting/lowering support wheel can be blocked well, this is fixed for the first time.Drone status monitoring device consists of two parts,
Including microcontroller and gravity sensor, whether microcontroller receives the signal that gravity sensor transmits, transmitted according to gravity sensor
Signal judges whether unmanned plane drops on platform, judges the landing shape of unmanned plane according to the distribution of transmitted signal location
Condition.Gravity sensor can be sent out when big Mr. Yu's critical value with measuring gravity and transmit signal.Different unmanned plane is faced
Dividing value is generally different, and determinant is the material and size of unmanned plane, usually takes theoretic minimum value.Hemisphere lifting dress
It sets and uses hydraulic bolt formula jacking system, elevating mechanism small, light-weight.
When drone status monitoring device monitor unmanned plane fallen into charging platform and it is adjusted finish when, nothing
Man-machine state's monitoring device will prepare to send out the signal of a startup hemisphere lifting gear, with rising and falling for uav bottom
Along the slip of round table surface slope, when lifting/lowering support wheel slides into round platform bottom just, signal is sent out wheel, is receiving unmanned plane liter
After the signal of falling unit, lifting gear will start immediately, and hemisphere chassis increases, i.e. the pedestal cylindricality platform of bottommost makes liquid
Compression leg extends, and to push hemisphere to increase, and then hemisphere outer diameter is made to clamp unmanned plane lifting/lowering support wheel with round platform internal diameter, makes nobody
Machine is fixed again.Unmanned plane can not only realize accurate landing in this way, can more achieve the effect that windproof wave resistance.So in sea
It will not be fallen in water when middle, if even if meeting with high sea unmanned plane, such as when mooring steady platform setting on navigation mark, even if boat
Mark is influenced by weather, shakes angle close to 90 °, unmanned plane can be also permanently affixed on platform.In land, jolt even if encountering
Road conditions, unmanned plane also can fully and contact with platform avoid falling.
Water drainage system design：
Using the concyclic face of hemisphere and upper and lower two round platforms, there are this features of semidiameter, to which charging platform has the gap
This poor characteristic, enables charging platform to drain, although marine weather is changeable, is often accompanied by high sea and rainfall, can't
Hoard in platform interior, the either spray pats the water that platform interior is still dropped into platform interior, all can because difference in height from
It is flowed out in gap.So that charging platform keeps dry salubrious, extend its service life, and makes unmanned plane from the wind that is submerged by water
Danger.
Wireless charging function designs：
This charging platform is charged using the method for induction wireless charging to unmanned plane, as shown in figure 4, the platform packet
Include multi-source energy supplying system, wireless power supply.Multi-source energy supplying system can be filled solar energy, wind energy collecting by wireless power
It is set to unmanned plane and carries out wireless charging.Multi-source energy supplying system includes mainly device of solar generating and wind electricity generating system, the sun
Can power generator be solar panel, wind electricity generating system is wind power generating set with vertical shaft, the two power generation cascade and through electricity
Source up/down die block stores input voltage lifting/voltage reducing to accumulator rated charging voltage, and accumulator can pass through lifting/lowering
Die block is powered outward.
Voltage processing unit, that is, power supply lifting/voltage reducing module can match charging voltage with accumulator rated voltage, to prolong
The long life of storage battery；By said program, the wind electricity generating system uses wind power generating set with vertical shaft, this is because vertically
Axis wind power generation plant has threshold wind velocity low, without to advantages such as shift of winds；The wireless charging R-T unit mainly wraps
Wireless charging emitter set wireless charging receiver is included, wherein wireless charging receiver is mounted on uav bottom,
Wireless charging emitter is mounted on inside charging platform.Reception device forms alternating current, rectified mould by induction field
Block forms direct current electricity output.
Using the means of electromagnetic induction wireless charging, the fire resistance characteristic of unmanned plane and charging platform is maintained, to reduce
The possibility of short circuit, increases the safety of unmanned plane charging waterborne, more easily charging side is provided for unmanned plane
Formula.
Mechanical sensing device design：
The mechanical sensing device for mooring steady platform consists of two parts, including velocity response system and balance induction system.Nothing
After man-machine charging complete, first has to release before taking off and fix.Velocity response system can obtain the rotating speed letter of unmanned plane propeller
Breath, and balance induction system can incude the equilibrium condition of platform.Using speed sensor and balance sensing device to machinery
Sensing device is controlled.When two control elements must generate signal simultaneously, the fixed action of the releasing could be triggered.Nobody
It is confidential under the conditions of platform in balance and revolution speed of propeller reach rated value after can just take off, if unmanned plane propeller does not reach
Rated speed or at sea meet with high sea weather cause platform unstable, mechanical sensing device cannot execute releasing fix
Action, unmanned plane cannot take off.
The unmanned plane of the present invention moors the method that steady charging platform makes unmanned plane accurately land：
When unmanned plane needs drop on the steady platform of pool, judge to moor the position where steady platform by positioning system first
Set, when unmanned plane during flying is to above platform position, to consider the influence of various factors, control speed, slowly under
Drop.When the lifting/lowering support wheel of unmanned plane touches inboard wall, unmanned vehicle engine is closed, makes unmanned plane by its own gravity along flat
Platform inner wall slowly slides.Due to the cushioning effect of inboard wall plastic sponge, unmanned plane will not because of kinetic energy excessive impact platform,
It causes to damage.The unique design of inboard wall also significantly increases the resistance of unmanned plane simultaneously, and kinetic energy damages during so that it is slid
Mistake is very big, so unmanned plane can slowly slide.Unmanned plane will appear angle of fall degree and be not allowed, position is not certainly in multiple landing
The design of accurate situation, platform inner surface skew wall can make unmanned plane constantly adjust fuselage positions in sliding, until sticking into
Groove 4 reaches stable.
2. the operating method of the steady platform fixed system of pool
When unmanned plane is stablized in the groove bands of steady platform interior on the berth, if encountering the case where acutely rocking or jolt, nobody
Machine or there is a strong possibility falls on marine or ground so that damaging.Fixed system designed by the platform can solve this and ask
Topic.When unmanned plane is stuck in groove bands, hemispheroidal lifting gear will start, which is lifted using hydraulic bolt formula
System moors steady platform fixed system and starts to start after receiving enabling signal.While hemisphere chassis increases, hydraulic column
Elongation, makes the gap between hemisphere outer diameter and round platform internal diameter constantly reduce, and when clamping unmanned plane lifting/lowering support wheel just, system is stopped
Only run, in case unmanned plane lifting/lowering support wheel is deformed by excessive compression.So at sea, even if if meeting with stormy waves unmanned plane not
It can fall in water；In land, can not fallen out fully and contact with platform even if encountering jolting road conditions unmanned plane yet.
3. the operation principle of the steady platform drainage system of pool
Since there are semidiameters for the concyclic face of hemisphere and upper and lower two round platforms, so being hemisphere in the landing of no unmanned plane
When body lifting gear does not start, hemisphere has the gap with disc under round platform, and charging platform is enable to drain, although marine weather
It is changeable, it is often accompanied by high sea and rainfall, but in platform interior since difference in height water can be flowed out from gap, will not cause to accumulate
Water.This enables charging platform to keep dry salubrious for a long time, extends its service life, and make unmanned plane from being submerged by water
Risk.
4. the method for carrying out wireless charging on unmanned plane steady platform on the berth
In vast ocean or in spacious field, moors steady platform and pass through wind power generating set with vertical shaft and solar panels
Respectively by wind energy, solar energy collecting, and it is converted into electric energy.The two cogeneration, electric energy are stored in electric power storage after lifting/voltage reducing module
Chi Zhong；The electric energy of accumulator is converted to electromagnetic field by wireless charging emitter, and the wireless charging mounted on uav bottom connects
Receiving apparatus is by forming alternating current after induction field, then rectified module forms direct current electricity output to the battery of unmanned plane, from
And the charging completed to unmanned plane energizes.
5. the operating method of mechanical sensing device
The mechanical sensing device of the novel steady charging platform of pool includes speed sensor and balance sensing device, and the two passes through
Mechanical sensing device is controlled with gating element.So unmanned plane must simultaneously meet speed sensor and balance induction dress
The requirement set could start mechanical sensing device, reduce the chassis of hemisphere lifting gear, rigid pillars be extended, to release
The safe take-off of unmanned plane is realized in the fixation of unmanned plane, ensures that unmanned plane will not be asked because being short of power or taking off shakiness
Topic.
6. unmanned plane landing and charging process and method：
Unmanned plane is when executing cruise or investigation tasks, unmanned plane not enough power supply, needs to drop on a steady platform of pool
It charges.It moors steady platform to can reside on the navigation mark or ship in unmanned plane cruise marine site, can also exist on unmanned plane and detect
It looks on the investigation vehicle in range.By positioning system, cruise unmanned plane is according to the position where preset track close to the steady platform of pool
It sets.But it since there are errors for positioning system used in unmanned plane, moors steady platform and needs to start landing bootstrap, to nothing
Man-machine carry out teleinstruction control.Landing process on unmanned plane steady platform on the berth, is divided into six stages.First stage is to draw
It leads the stage, second stage is calibration phase, and three phases are the fixed stage, and four-stage is the charging stage, the 5th
Stage is the preparation stage, and the 6th stage is takeoff phase.
It is described in detail further below：
First stage, that is, vectoring phase：There are errors for the positioning and control of unmanned plane, but error will be controlled in certain model
Within enclosing.In this stage, moors steady platform and unmanned plane landing is guided by bootstrap, make its fuselage as close possible to pool
Above steady platform or and contact with platform, ensure that unmanned plane smoothly slides into platform with this.
Second stage, that is, calibration phase：Since unmanned plane is by its own gravity toward sliding underneath, thus have no consciousness and
Rule can be sayed.The contact angle of each unmanned plane and platform is different from, this just needs to be adjusted, and makes unmanned function with most suitable
The angle of conjunction smoothly contacts platform base.
Phase III in the i.e. fixed stage：Because unmanned plane with moor steady platform and come into full contact with, meet platform to its into
The objective condition of row charging energy supply.When platform rocks caused by weather or other environmental factors, to avoid unmanned plane from falling, need
Unmanned plane is fixed.Unmanned plane is fallen into annular groove, and activity receives certain restrictions, then makes hemisphere by fixed system
Gap between body and round platform is gradually reduced, and blocks unmanned plane lifting/lowering support wheel just, completes the fixation to unmanned plane.
Fourth stage, that is, charging stage：Unmanned plane energy is insufficient, is energized to its charging by way of wireless charging.
5th stage, that is, preparation stage：Unmanned plane charging at this time finishes, and needs to continue to execute task.Unmanned plane needs before taking off
It is prepared work.Preparation needed for unmanned plane has at 2 points, when make as early as possible propeller reach take off it is required specified
Rotating speed, second is that determine that the steady platform of pool at this time is in equilibrium state.
6th stage, that is, takeoff phase：After unmanned plane preparation, you can steadily take off.
As shown in figure 5, the multi-functional unmanned plane based on above-described embodiment moors the application method of steady charging platform, including it is following
Step：
(1) when unmanned plane needs charging, chosen distance is nearest first and the steady charging platform of available pool, and flies to platform
Top sends identification information to charging platform；
(2) it moors steady charging platform to judge whether to land according to the relevant information of unmanned plane, the starting gate if it can land；
(3) it moors steady charging platform to guide unmanned plane landing by bootstrap, unmanned plane is made to be adjusted to most suitable
Angle and smoothly contact platform base, it is smoothly sliding when unmanned aerial vehicle body is shut down close to above round platform or when being contacted with round platform
Enter platform；
(4) unmanned plane is fallen into after annular groove, and mooring steady charging platform is made by fixed system between hemisphere and round platform
Gap be gradually reduced, block unmanned plane lifting/lowering support wheel, complete the fixation to unmanned plane；
(5) it moors steady charging platform and starts charging system, charging energy supply is carried out to unmanned plane in a manner of wireless charging；
(6) after unmanned plane charging, start propeller and reach departure rotary speed, mooring steady charging platform should be by the sense of equilibrium
System judges that the equilibrium condition of itself meets requirement of taking off, and releases and fixes, and unmanned plane takes off.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (10)
1. a kind of multi-functional unmanned plane moors steady charging platform, which is characterized in that including pedestal and hollow cylinder, hollow cylinder is fixed
On the base；Upper and lower two are equipped in the hollow cylinder in the hollow round table being coplanar with, the hollow round table of lower section is embedded in
Semicircle sphere；
Signal transferring device, drone status monitoring device and the wireless power supply of unmanned plane are equipped in semi-round ball body；
Gap between lower section round platform and hemisphere is equipped with the groove bands of circular ring shape, and width is consistent with the diameter of unmanned plane lifting/lowering support wheel
Or slightly larger than the wheel diameter that rises and falls；
Semicircle sphere bottom is connect by multiple hydraulic columns with pedestal.
2. multi-functional unmanned plane according to claim 1 moors steady charging platform, which is characterized in that in the hollow round table of lower section
For wall there are four the upright aperture of square distribution, upright aperture passes through rigid pillars, the hollow round table of lower section small by rigidity
Column is connect with pedestal.
3. multi-functional unmanned plane according to claim 1 moors steady charging platform, which is characterized in that the hollow round table of lower section with
Pedestal cylindricality platform below semicircle sphere is connected by non-telescoping rigid pillars.
4. multi-functional unmanned plane according to claim 1 moors steady charging platform, which is characterized in that the charging platform further includes
Multi-source energy supplying system is that unmanned plane carries out wireless charging by solar energy, wind energy collecting, and by wireless power supply.
5. multi-functional unmanned plane according to claim 4 moors steady charging platform, which is characterized in that multi-source energy supplying system includes
Solar panel and wind power generating set with vertical shaft, the two power generation cascade and through power supply lifting/voltage reducing module by input voltage liter/
Accumulator rated charging voltage is depressurized to be stored.
6. multi-functional unmanned plane according to claim 1 moors steady charging platform, which is characterized in that pedestal is circular platform,
Its diameter is identical as the diameter of hollow cylinder.
7. multi-functional unmanned plane according to claim 1 moors steady charging platform, which is characterized in that be equipped at the top of hollow cylinder
Self-shooter when closing gate, forbids unmanned plane to charge.
8. multi-functional unmanned plane according to claim 7 moors steady charging platform, which is characterized in that the self-shooter is more
A fan shape baffle is in petal opening state when self-shooter is opened.
9. multi-functional unmanned plane according to claim 7 moors steady charging platform, which is characterized in that moor steady charging platform and also wrap
Door system, door automatic closing system and safety system are included, door system is connect by mechanical structure with gate, is automatically closed and is
System is connect by electric mechanism with gate.
10. a kind of multi-functional unmanned plane based on claim 1 moors the application method of steady charging platform, which is characterized in that including
Following steps：
（1）When unmanned plane needs charging, chosen distance is nearest first and the steady charging platform of available pool, and flies to platform
Side sends identification information to charging platform；
（2）It moors steady charging platform to judge whether to land according to the relevant information of unmanned plane, the starting gate if it can land；
（3）It moors steady charging platform to guide unmanned plane landing by bootstrap, unmanned plane is made to be adjusted to most suitable angle
Platform base is spent and smoothly contacted, is shut down when unmanned aerial vehicle body is close to above round platform or is contacted with round platform, is smoothly slid into flat
Platform；
（4）Unmanned plane is fallen into after annular groove, and mooring steady charging platform makes seam between hemisphere and round platform by fixed system
Gap is gradually reduced, and blocks unmanned plane lifting/lowering support wheel, completes the fixation to unmanned plane；
（5）It moors steady charging platform and starts charging system, charging energy supply is carried out to unmanned plane in a manner of wireless charging；
（6）After unmanned plane charges, starts propeller and reach departure rotary speed, moor steady charging platform and sentenced by balance induction system
The equilibrium condition of itself of breaking meets requirement of taking off, and releases and fixes, and unmanned plane takes off.
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