CN108502201A - Unmanned plane shuts down library - Google Patents

Unmanned plane shuts down library Download PDF

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Publication number
CN108502201A
CN108502201A CN201810517922.8A CN201810517922A CN108502201A CN 108502201 A CN108502201 A CN 108502201A CN 201810517922 A CN201810517922 A CN 201810517922A CN 108502201 A CN108502201 A CN 108502201A
Authority
CN
China
Prior art keywords
unmanned plane
library
claw
shuts down
plane according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201810517922.8A
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Chinese (zh)
Other versions
CN108502201B (en
Inventor
王海滨
钱茂冬
胡天波
周浩
高杰
徐乐
胡益汀
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Star Logic Technology (suzhou) Co Ltd
Original Assignee
Star Logic Technology (suzhou) Co Ltd
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Publication of CN108502201A publication Critical patent/CN108502201A/en
Application granted granted Critical
Publication of CN108502201B publication Critical patent/CN108502201B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • B64F1/007—Helicopter portable landing pads
    • 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
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • 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
    • B60L53/10—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 characterised by the energy transfer between the charging station and the vehicle
    • B60L53/11—DC charging controlled by the charging station, e.g. mode 4
    • 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
    • B60L53/10—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 characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • 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
    • B60L53/10—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 characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • 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
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • 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
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/51—Photovoltaic means
    • 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
    • B64F1/12—Anchoring
    • B64F1/125—Mooring or ground handling devices for helicopters
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/44—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages for storing aircraft
    • 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
    • Y02T90/12—Electric charging stations
    • 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 unmanned planes to shut down library; belong to unmanned plane landing ancillary technique field; it includes controller, airplane parking area and the automatic charge device controlled by the controller that the unmanned plane, which shuts down library; the automatic charge device includes that a pair of of card presses component, several claws for blocking transverse bar or support leg that pressure component includes card pressure unmanned plane undercarriage the walking mechanism for driving the claw movement, to drive the walking mechanism to move and then the claw is made to press the actuator moved between charge position and releasing position and the charging electrode being installed on the claw in card.Unmanned plane provided by the invention shuts down library, while providing landing auxiliary for unmanned plane, can carry out the automatic wired charging of high-speed secure for it.

Description

Unmanned plane shuts down library
Technical field
Land auxiliary device the present invention relates to a kind of unmanned plane, specifically, being related to a kind of with automatic charge device Unmanned plane shuts down library.
Background technology
UAV, i.e. unmanned plane are operated using radio robot and the presetting apparatus provided for oneself Not manned aircraft because having many advantages, such as that at low cost, efficiency-cost ratio is good, risk is low, survival ability is strong, mobility is good, and is answered extensively It is shot for high-altitude, and there is very strong application prospect in express delivery delivery field.
Unmanned plane is usually powered by the battery for carrying on it, is limited to limited mass that can be battery-mounted, and consume Electricity constantly increases with the increase of ancillary equipment, causes its single voyage partially short, limits its application prospect and development.
In order to extend the cruising ability of unmanned plane, a kind of nothing is disclosed in the patent document of Publication No. CN106368478A People's distributed unmanned plane on duty charges hangar comprising hangar protect babinet, airplane parking area, can slip lid solar panel, Battery pack, GPS/ Big Dipper positioning and communicatings unit, control unit and wireless charging unit, battery pack are electrically connected with solar panel To charge to it, wireless charging unit is electrically connected with battery pack and by control unit control and to resting on airplane parking area Unmanned plane charges.
Unmanned plane charging hangar is arranged by distribution in the patent document, can effectively extend the cruising ability of unmanned plane, But it is wireless charging, compared with wired charging, not only charge efficiency is relatively low, and charging equipment high expensive.
Invention content
The present invention provides a kind of unmanned plane shutdown library, while providing landing auxiliary for unmanned plane, can be carried out for it Automatic wired charging.
Technical scheme is as follows：
A kind of unmanned plane shutdown library, including airplane parking area, controller and the automatic charge device controlled by the controller, The automatic charge device includes that a pair of of card presses component, described to block the transverse bar or branch that pressure component includes card pressure unmanned plane undercarriage Several claws of spike drive the walking mechanism of the claw movement, the driving walking mechanism to move and then make the claw The actuator moved between charge position and releasing position and the charging electrode being installed on the claw are pressed in card.
During the work time, as actuator driving claw is moved at card pressure charge position, claw card is pressed in unmanned plane On undercarriage transverse bar or support leg, and to unmanned plane by charging electrode is contacted with the open electrode on undercarriage It charges, while blocking pressure both sides undercarriage upwards from contra by a pair of of claw, unmanned plane is made to be consolidated in charging process It holds on airplane parking area, effectively ensures continuity, the stability of charging process, and can effectively prevent causing nobody because of exterior vibration Machine slides on airplane parking area, it is ensured that its safety after landing；After completing to charge, actuator driving claw moves to releasing position, Unmanned plane can continue to fly and extend its cruising ability.
In a preferred embodiment, the walking mechanism includes that be arranged in airplane parking area two of opposite sides are mutually flat Capable transverse support bar, be separately positioned on airplane parking area other opposite sides two Der Laengslenkers being mutually parallel and difference Several sliding blocks for being in contact and being slided along the Der Laengslenker with two Der Laengslenkers of both sides, wherein every transverse support bar Two ends be fixedly connected respectively with the sliding block described in one；Several claw groupings are arranged in two transverse support bars On.
When unmanned plane is drop on airplane parking area, actuator pushes transverse support bar that unmanned plane is pushed into airplane parking area in transverse direction At center on position, then controls claw and unmanned plane is pushed at the center in lengthwise position and is blocked to push down undercarriage transverse direction Bar further ensures that charging process can be normally carried out to increase the fault-tolerance of unmanned plane landing place deviation.
In another preferred embodiment, the walking mechanism includes longitudinal rail and can be slided along the longitudinal rail A pair of of slide, the longitudinal rail are directed toward the direction arrangement of releasing position along card pressure charge position, and several claws are set respectively It sets on the pair of slide；The notch slid through for the claw is additionally provided on the airplane parking area.
In a preferred embodiment, it is installed with resealable zipper between the both sides of each notch, in the claw from card For pressure charge position when retreating to releasing position, the resealable zipper, which synchronizes, closes the notch, and in the claw from releasing When putting position and proceeding to card pressure charge position, the notch is opened in the resealable zipper synchronization, is being landed to prevent unmanned plane In the process, do not stop to occur undercarriage to predeterminated position and be embedded in the notch, claw moves during effectively ensuring that subsequent charge Dynamic path will not be blocked, and can normally be taken off after also ensuring unmanned plane landing.
In a preferred embodiment, there is a fixed part, the sliding part of the resealable zipper and the card on the claw Fixed part on pawl is fixedly connected, to realize the synchronism of the slide fastener and claw movement.
In a preferred embodiment, elastic buffering mechanism, the elastic buffering mechanism master are additionally provided in the walking mechanism Including：Be fixed at the back seat at the slide rear portion, be installed in along the direction of longitudinal rail arrangement and one end it is described It is optical axis on back seat, the straight line flange bearing for being arranged in the middle part of the slide and being slidably sleeved on the optical axis, adjustable pre- Clamp force elastic mechanism, the preload adjustable elastic mechanism are arranged between the straight line flange bearing and the back seat.It is adjustable Pretightning force elastic mechanism can press unmanned plane convenient for claw by adjusting decrement, to change the pretightning force of claw along longitudinal direction in card Compensator or trimmer pressure and buffer displacement are formed when undercarriage, effectively ensure card pressure compactness and are avoided the occurrence of hard squeeze and squeezed bad unmanned plane Undercarriage or claw.
In a preferred embodiment, fixed seat, the fixed seat and the straight line flange are additionally provided in the walking mechanism Bearing is fixedly connected, and the claw is that the fast disassembly type falcon being removably mounted in the fixed seat connects charging head, in order to fill Being replaced when aging occurs in electrode.
In a preferred embodiment, the preload adjustable elastic mechanism includes being pressed on the back seat and the straight line flange Compression spring between bearing, and the pull rod for adjusting compressible spacing threshold between the straight line flange bearing and the back seat.
In another preferred embodiment, the walking mechanism includes a pair of of the X-direction push rod being arranged on airplane parking area It is oppositely arranged with two push rods of a pair of of Y direction push rod, a pair of of X-direction push rod and synchronizing moving, described one Two push rods of Y direction push rod are oppositely arranged and synchronizing moving, a pair of of X-direction push rod and a pair of of Y direction Push rod is driven by power and transmission mechanism by realizes movement, is pushed away in the pair of X-direction push rod or the pair of Y direction It is respectively equipped with several claws on two push rods of bar.
In a preferred embodiment, the centre position of the airplane parking area is equipped with to positive guide device.It can to positive guide device Selected from two-dimension code label, optics target, U-shaped indicator light etc..By adding to positive guide device, unmanned plane essence can be effectively ensured that Quasi- landing.
In a preferred embodiment, described to include U-shaped indicator light to positive guide device and enclosed positioned at the U-shaped indicator light Rectangular indicator light, round indicator light in region and triangle indicator light.
In a preferred embodiment, described is Quick Response Code to positive guide device.
In a preferred embodiment, described to include circular contour to positive guide device and be arranged in the circular contour I-shaped identifies.
In a preferred embodiment, card is installed on the claw and is pressed onto a detection switch, card is pressed onto a detection switch can Selected from microswitch, photoelectric detection switch etc..Ensuring that card is pressed onto position so that charging electrode was contacted with the electrode on undercarriage Meanwhile it avoiding damaging undercarriage by pressure.
In a preferred embodiment, be fixed with several voltage detection needles on the claw, the voltage detection needle with it is described Charging electrode constitutes feedback detection charging structure of four lines or more with voltage compensation together.
In a preferred embodiment, the charging electrode be the conductive fibre fabric being attached on the card pressure surface of the claw or Net metal electrode.Using conductive fibre fabric or reticulated metal structures as charging electrode, convenient for itself and the cross on undercarriage Electrode card press contacts on bar or support leg, it is ensured that the contact effect in charging process；In addition, using conductive fibre fabric as Charging electrode can make full use of it with certain flexibility, keep it more abundant with the electrode card press contacts on undercarriage, Further increase the contact effect of charging process.
In a preferred embodiment, the airplane parking area is equipped with NFC/RFID card reader at its aircraft gate；The unmanned plane It shuts down and wind sensor, optical sensor and rain sensor is installed on the outer wall in library.Night-environment is detected to provide for hangar It illuminates or detects bad weather condition and interrupt unmanned plane trip task.
In a preferred embodiment, the unmanned plane shuts down the library unit that library includes two layers or more, is positioned at top layer Top library unit, each library unit includes braced frame, protective shell and the airplane parking area in the protective shell With the automatic charge device；
Library unit below the top library unit further includes the plug-type drawer knot being mounted in the protective shell Structure, the plug-type drawer structure includes draw back plate and drives the draw back plate actuator that transversely guide rail slides, described to stop Machine level ground is mounted on card pressure component on the draw back plate.Two layers or more of library unit is arranged to be convenient for according to need to actually stop nobody The library unit number of plies, and raising the land utilization efficiency is arranged in machine quantity.Plug-type drawer structure is convenient for the library under the library unit of top Unit is stored or release unmanned plane, and presses component to coordinate with draw back plate by card, it is ensured that unmanned plane is being released or drawn by draw back plate Into during library unit protective shell stability and safety.
In a preferred embodiment, the airplane parking area is engraved structure, and between the airplane parking area and the draw back plate It is supported by polylith support plate, constitutes the ventilative Stilt layer structure in both sides；The plug-type drawer structure has several side plates, institute It states side plate and is equipped with multiple through-holes.
Influence caused by air-flow rebound takes off to unmanned plane or lands when above structure can reduce unmanned plane landing, from And can accurately drop in predeterminable area, so that the charging electrode on claw can be more acurrate and preferably card is depressed into undercarriage On charging electrode on, effectively ensure that the progress of charging process.
In a preferred embodiment, the push-and-pull direction of the draw back plate of adjacent two layers library unit is opposite or mutually orthogonal.To keep away The problem of exempting to interfere when two frame unmanned planes rest on the airplane parking area of adjacent two layers, improving shutdown library can land simultaneously Unmanned plane quantity.
In a preferred embodiment, the protective shell includes top plate and bottom plate, rear panel, both side plate, the plug-type drawer The draw back plate of structure and a front panel are hinged, and the plug-type drawer structure, which is equipped with, pushes the front panel being closed around hinged shaft The actuator rotated between position and tiling position.Front panel is tiled when unmanned plane takes off or lands to reduce air-flow rebound to nobody Influence caused by machine landing.
In a preferred embodiment, the unmanned plane shuts down library and further includes temperature control module, power module, communication module and determine Position module, wherein the controller is electrically connected with temperature control module, power module, communication module, locating module.
In a preferred embodiment, temperature element is additionally provided on the claw, the controller has memory and processing Device, during the work time, temperature detection data of the processor based on the temperature element of the controller, execution are stored in institute The computer program in controller storage is stated to realize following steps：
In charging process, if detect the first temperature threshold that the temperature of the claw is set higher than one, institute is controlled Stating actuator drives the claw to discharge the transverse bar or support leg of the unmanned plane undercarriage, and moves to card pressure charge position again It sets and charges, repeat release steps with card pressure charge step again until the temperature of the claw is less than the first temperature threshold；
If above charging process all detects that the temperature of claw is more than the second temperature threshold value of a setting twice in succession, Send the prompting for replacing electrode.Temperature element can be thermocouple, NTC etc..
Another specific scheme is that the top plate for the top library unit that unmanned plane shuts down library is plug-type cover board, and unmanned plane stops Hangar is equipped with the elevating mechanism that airplane parking area is released to its protective shell.Such structure can reduce anti-when unmanned plane takes off or lands Influence of the air-flow to unmanned plane stability is played, so as to accurately drop in predeterminable area, so that the charging electricity on claw Pole can be more acurrate and preferably card is depressed on the charging electrode on undercarriage, effectively ensures that the progress of charging process.
Compared with prior art, beneficial effects of the present invention are as follows：
The first, unmanned plane of the invention shuts down the charging mechanism that library uses contact quick charge, is provided for unmanned plane While landing auxiliary, automatic wired charging can be carried out for it；
The second, unmanned plane shutdown library of the invention can control unmanned plane and precisely land；
Third, the present invention unmanned plane shut down library can outdoors under mal-condition high speed, safety carry out quick charge.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Description of the drawings
Fig. 1 is the stereogram of the embodiment of the present invention 1；
Fig. 2 is that stereogram of the library unit of unmanned plane after omitting coverboard is parked in the embodiment of the present invention 1；
Fig. 3 is the stereogram of plug-type drawer structure in the embodiment of the present invention 1；
Fig. 4 is the stereogram for the plug-type drawer mechanism that card is pressed with unmanned plane in the embodiment of the present invention 1；
Fig. 5 is the structural schematic diagram of bottom library unit in the embodiment of the present invention 2；
Fig. 6 is the backside configuration schematic diagram of bottom library unit in the embodiment of the present invention 2；
Fig. 7 is the structural schematic diagram of drawer structure in the embodiment of the present invention 2；
Fig. 8 is the structural schematic diagram of card pressure component in the embodiment of the present invention 2；
Fig. 9 is the structural schematic diagram of top library unit in the embodiment of the present invention 3；
Figure 10 is the dimensional structure diagram of the airplane parking area of the embodiment of the present invention 4 and the positive visual angle of walking mechanism；
Figure 11 is the dimensional structure diagram at another visual angle in front of the airplane parking area and walking mechanism of the embodiment of the present invention 4；
Figure 12 is the backside structure stereogram of the airplane parking area and walking mechanism of the embodiment of the present invention 4；
Figure 13 is the backside structure front view of the airplane parking area and walking mechanism of the embodiment of the present invention 4；
Figure 14 is the airplane parking area of the embodiment of the present invention 4 and the X-direction push rod of walking mechanism and the claw being arranged thereon, step The dimensional structure diagram of stepper motor and lead screw；
Figure 15 is the configuration state schematic diagram of the airplane parking area and walking mechanism of the embodiment of the present invention 4 after unmanned plane stop；
Figure 16 be the embodiment of the present invention 4 airplane parking area and walking mechanism unmanned plane stop after, claw fix unmanned plane The configuration state schematic diagram of undercarriage；
In figure：
The first library units of 1-；11- braced frames；12- side plates；13- side plates；The second library units of 21-；22- third library units； The 4th library units of 23-；Library unit at the top of 24-；241- top plates；3- draw back plates；31- fixed links；4,4 '-airplane parking area；5- card pressure groups Part；51,51 '-claw；52- transverse support bars；53- Der Laengslenkers；54- sliding blocks；511- lozenges；61- guide rods；62- guide rods； 63- pushes and pulls actuator；64- sliding blocks；7- is to positive guide device；71-U indicator lights；The rectangular indicator lights of 72-；73- circles indicate Lamp；74- triangle indicator lights；8- actuators；01- unmanned planes；011- undercarriages；012- transverse bars；32- draw back plates；The sides 33- Plate；34- front panels；35-LED light bar；36- actuators；91- operating status warning lamps；94- power output sockets are opened with air It closes；95- waterproof plug for industrial use；97- 2 buttons of advance and retreat and tight guard's valve；92,93- push rods；41- notches；42- Quick Response Codes；81- Longitudinal rail；82- voltage detection needles；83- preload adjustable spring mechanisms；84- slides；85- optical axises；Consolidating on 86- claws 51 ' Determine portion；87- Katos；88-；89- flange bearings；98- fixed seats；96- sensors；
The airplane parking areas 1a-；2a- a pair of X-direction push rods；Two X-direction push rods of 21a, 22a-；3a- a pair of Y directions push away Bar；Two Y direction push rods of 31a, 32a-；4a- claws；The collet of 41a- claws；The arc card pressure surface of 411a- collets；51a- First pulley；The second belt wheels of 52a-；53a- third belt wheels；The 4th belt wheels of 54a-；6a- transmission belts；7a- power sources；8a- long axis； 9a- sliding blocks；10a- synchronous belts；11a- connectors；13a- structural reinforcement members；14a- lead screws；141a, 142a- thread segment；15a- without It is man-machine.
Specific implementation mode
With reference to embodiments and attached drawing the invention will be further described.
Embodiment 1
It includes controller, several library units, temperature control module, power supply mould that a kind of unmanned plane provided in this embodiment, which shuts down library, Block, communication module and locating module, wherein the controller and the library unit, temperature control module, power module, communication module, Locating module is electrically connected.
Specifically, Fig. 1 is referred to, a kind of unmanned plane shutdown library provided in this embodiment includes five library units, under And upper respectively the first library unit 1, the second library unit 21, third library unit 22, the 4th library unit 23 and top library unit 24, In connection is removably secured by fixing piece between adjacent two layers of library unit.The present embodiment setting for library unit here The description for setting quantity is exemplary only, in actual use, quantity configuration and this reality of the unmanned plane that can be stopped as needed Apply the different layers of library units of example.
In the present embodiment, the top plate 241 of top library unit 24 is the solar cell driven along sliding rail by linear motor Plate, therefore top library unit 24 can not only carry out the keying of library unit, additionally it is possible to it produces electricl energy.
The present embodiment illustrates the structure of library unit by taking the first library unit 1 of bottom as an example, refers to Fig. 1, and first Library unit 1 include braced frame 11, protective shell and and the plug-type drawer structure in protective shell, braced frame 11 be one A cuboid framework, protective shell include side plate 12, side plate 13 and bottom plate not shown in the figure, top plate shown in Fig. 1 in addition Two the side plate opposite with side plate 12, side plate 13, the plug-type drawer structure are equipped with airplane parking area, are set on the airplane parking area respectively There is charging structure.
For top library unit 24, when unmanned plane needs release, top plate is released and is withdrawn after unmanned plane takes off, in nothing It is man-machine need landing when, top plate release simultaneously unmanned plane landing after withdraws.
For remaining every layer library unit, when unmanned plane needs release, plug-type drawer structure is released and is risen in unmanned plane It is withdrawn after flying, when unmanned plane needs landing, plug-type drawer structure is released and withdrawn after unmanned plane landing.
Controller simultaneously controls all library units, and the pull direction of every layer of library unit is arranged to not Tongfang To, in the present embodiment, the export direction of the plug-type drawer structure of the library unit of lower part four is different, allow four framves with On unmanned plane simultaneously landing.
In the present embodiment,
Controller is that the control axis that unmanned plane shuts down library acquires each component working shape by internal electronic circuit State information generates control instruction, controls each executing agency's co-operating, to realize that unmanned plane shuts down the function in library.Controller packet Include memory and processor.
The power module includes cable, power supply, relay, indicator light and power supply interface, wherein
The cable is arranged along the braced frame of the library unit, causes to interfere to avoid the movable device to library unit； The output stage of power supply described in the cable connection.Cable is preferably set to use spring cable flexible, by this flexible Spring cable will be in electrical energy transportation to each unmanned plane aircraft gate；
The power supply is the DC power supply accessed by charging platform interface, AC power or is arranged on library unit Ontology sun-generated electric power is powered, and by internal power supply change-over device, provides the power supply system needed for unmanned plane charging；
The relay directly controls the output of power supply interface voltage；
The indicator light is for detecting power supply interface working condition.
The temperature control module includes temperature detection sensor and thermostat module, wherein temperature detection sensor is for detecting Temperature in library unit, optional built-in/external mini air conditioner of thermostat module, suitable temperature, humidity environment are provided for unmanned plane. It is preheated for unmanned plane for example, starting air-conditioning when environment temperature is less than 10 DEG C, starting air-conditioning when environment temperature is higher than 30 DEG C is Unmanned plane cools down.
The communication module is used to send charging in advance with a UAV Intelligent management and running Platform communication, the communication module About information, communication module also uploads the working status parameter that unmanned plane shuts down library in real time in addition, including power supply supplies parameter, charging On the key parameters to the UAV Intelligent management and running platform such as whether electrode normally contacts, whether protective device is normal.
The locating module be used for obtain this unmanned plane shut down library location information, and by the communication module by this Information is sent to UAV Intelligent management and running platform, and reference is provided for unmanned plane.
Incorporated by reference to referring to Fig. 2 to Fig. 3, the present embodiment illustrates the structure of library unit by taking the library unit 1 of bottom as an example. Library unit 1 include braced frame 11, by each board group such as side plate 12 and side plate 13 at protective shell and in protective shell Plug-type drawer structure, wherein plug-type drawer structure includes draw back plate 3, airplane parking area 4, a pair of of card pressure component 5 and driving push-and-pull The push-and-pull actuator 63 that plate 3 is slided along guide rod 61,62.Wherein, a kind of reality of the card pressure component 5 as above-mentioned charging structure Apply mode.
Wherein, airplane parking area 4 is installed in card pressure component 5 on draw back plate 3, so as to be pushed out with draw back plate 3 or It draws in protective shell.
It is installed on airplane parking area 4 to positive guide device 7, including U-shaped indicator light 71 and U-shaped finger is located to positive guide device 7 Show rectangular indicator light 72, round indicator light 73 and the triangle indicator light 74 in 71 enclosed region of lamp.Positive guide device 7 is installed On the aircraft gate centre position of airplane parking area 4.
Card pressure component 5 includes walking mechanism, claw 51 and actuator 8.Wherein,
Walking mechanism includes two transverse support bars being mutually parallel, 52, two Der Laengslenkers being mutually parallel 53 and can edge The sliding block 54 that Der Laengslenker 53 slides, wherein
Two ends of every transverse support bar 52 are fixedly connected with the sliding block 54 described in one respectively, to make cross-brace Bar 52 guide rod 53 can slide along longitudinal direction；
The cross section of transverse support bar 52 is semi-circular structure, and claw 51 is equipped with and 52 matched semicircle of transverse support bar Fixed hole, fixed in every transverse support bar 52 there are three claws 51；It leads the longitudinal direction that Der Laengslenker 53 is constituted in the present embodiment Rail, claw 51 are realized by transverse support bar 52 and are fixedly connected with sliding block 54.
Two transverse support bars 52 of walking mechanism, can be inclined by script landing place during moving toward one another The unmanned plane of difference pushes away just to centre.During promotion, the head deviation angle of unmanned plane can be also corrected (partially simultaneously In the case that shifting amount is little, it is less than positive and negative 45 degree), that is, realize the effect of positioning.
Claw 51 is the wedge-shaped claw having there are one lozenges 511, and conduction is attached on the lozenges 511 of wedge-shaped claw Fiber cloth and microswitch, the conductive fibre fabric is as charging electrode, and the lozenges is as card pressure surface.It is also possible to use The net metal electrode being attached on wedge-shaped card pressure surface substitutes conductive fibre fabric as charging electrode.The unmanned plane of the present invention is shut down The charging electrode in library can be matched with the charge port of different types of machines, compatible different types of machines, and versatility is good.
It is fixed on fixed anode charging electricity on one group of claw that three claws 51 in same root transverse support bar 52 are constituted Pole is fixed on fixed cathode charging electrode on three claws in another group of transverse support bar.
In the present embodiment, 4 underlying space of airplane parking area is separately connected the positive and negative polarities of power supply by flexure spring cable, will Power supply leads on unmanned plane aircraft gate and is electrically connected with the charging electrode on claw 51.
Actuator 8 includes leading screw and nut mechanism and driving motor, the silk of the driving motor and the leading screw and nut mechanism Bar is sequentially connected, and the nut in leading screw and nut mechanism is fixedly connected with a centrally located claw 51, in pushing Between claw 51, and simultaneously by transverse support bar 52 drive side by two claws 51 together on airplane parking area 4 to just guiding Device 7 is moved or is moved away from, i.e., mobile or be moved away to the aircraft gate of airplane parking area 4.
Draw back plate 3 is slidably connected by the multiple sliding blocks 64 being fixed on draw back plate 3 with guide rod 61,62.
It includes leading screw and nut mechanism and driving motor, the lead screw biography of driving motor and leading screw and nut mechanism to push and pull actuator 63 Dynamic connection, the nut in leading screw and nut mechanism are fixedly connected with the bottom surface of draw back plate 3, and by draw back plate 3 and what is be installed on it stop The protective shell of library unit is released or promoted to machine level ground 4, card pressure component 5 etc. together.
Along one of the push-and-pull direction of draw back plate side plate and the fixed link 31 on draw back plate 3 in the protective shell of library unit It is fixedly connected, so as to be moved together with draw back plate 3, other plates of protective shell are then fixed in braced frame 11.
The unmanned plane of the present invention shuts down library during the work time, typically coordinates UAV Intelligent management and running platform, more Platform unmanned plane is run together, is stopped by more unmanned planes of UAV Intelligent management and running platform Collaborative Control and multiple unmanned planes Hangar, with functions such as the fixed point cruise, task execution and shutdown of making a return voyage, the chargings that control unmanned plane.
The workflow that the unmanned plane of the present embodiment shuts down library part is as follows：
The controller that unmanned plane shuts down library passes through take off landing instruction or the reception unmanned plane of communication module reception unmanned plane The open or close of the library unit of the landing instruction control distribution of taking off for the control unmanned plane that intelligent scheduling management platform is sent out, together When controller can also by detecting whether unmanned plane reaches, come control distribution charging hangar open or close；
After detecting that unmanned plane reaches, controller control claw fixes unmanned plane and is closed the protection of library unit Whether shell needs charging to execute corresponding charge function after closure according to unmanned plane；In the process,
If temperature detection sensor detects that the temperature in library unit is too low or excessively high, controller is will send signals to, is controlled Device processed can open temperature control module, and temperature is adjusted to suitable temperature；Controller can also receive UAV Intelligent scheduling simultaneously The temperature regulation and control instruction control unmanned plane of management platform shuts down library or the temperature of some library unit reaches in specified range, always Unmanned plane is set to be in suitable temperature range.
In addition to this, unmanned plane shut down library controller can also by the temperature information of acquisition, unmanned plane charge condition, Unmanned plane shuts down the status informations such as the location status of unmanned plane of library and/or position in the inner and unmanned plane shuts down the temperature letter in library Breath, unmanned plane shut down whether the unmanned plane in library the status informations such as can run, and transmit these information to UAV Intelligent Management and running platform is preserved and feeds back to user.
Also, whether the shutdown library can also can be received unmanned plane and shut down library by the controller that unmanned plane shuts down library The status informations such as temperature are sent to unmanned plane, so that it is executed emergency function, for example, dropping to emergency point.
In addition to the specific workflow that foregoing description is mentioned, UAV Intelligent management and running platform and controller, control Device and unmanned plane, controller and hangar library unit between action further include other functions, it is numerous to list herein.
The present embodiment also provides a kind of unmanned plane work system, including several above-mentioned unmanned planes shut down library, several unmanned planes With UAV Intelligent management and running platform, the unmanned plane shuts down library, the unmanned plane and UAV Intelligent management and running platform It is respectively equipped with wireless communication device, the UAV Intelligent management and running platform shuts down library, Mei Gewu with each unmanned plane respectively Man-machine wireless communication connection.
Fig. 2 is referred to, in the present embodiment, unmanned plane 01 is a rotary wind type unmanned plane, is grasped by matching remote control Control.The unmanned plane 01 is mainly by flight control system, communication system, positioning system, dynamical system and battery composition, wherein positioning System is GPS and similar satellite positioning unit and vision positioning system, is first determined unmanned plane Automatic dispatching to vision by GPS Within the scope of position, then it is drop on airplane parking area by vision positioning system realization to charge.Unmanned plane 01 can receive nothing The instruction of human-machine intelligence's management and running platform is simultaneously cruised with the instruction to arbitrary in certain particular range (i.e. unmanned plane cruising range) A bit.
Fig. 4 is referred to, open electrode is installed on the transverse bar 012 of the undercarriage 011 of unmanned plane 01.The open electricity The conductive fibre fabric being extremely embedded on transverse bar 012, the wedge shape with the claw 51 for the card pressure component 5 for being installed in draw back plate 3 Conductive fibre fabric cooperation on face.The present embodiment is also by being arranged the voltage induced spy shut down in unmanned plane on the charging claw in library Head carries out voltage detecting, to prevent from being likely to occur reverse current, while unmanned aerial vehicle rack under the operating mode that unmanned plane do not land correctly On for drawing in unmanned plane body protection circuit of having connected in battery electrode and the cable being connected with the electrode on undercarriage, With overcurrent protection fuse function, to prevent accidental short circuit from being damaged to unmanned plane and automatic charging platform.
When unmanned plane lands to airplane parking area 4, the shutdown of airplane parking area is mounted on by the airborne camera acquisition of unmanned plane 01 It after the image to positive guide device in position centre position, is identified by unmanned plane image identification function, and refers to unmanned plane The location data that gyroscope generates, for the positioning of unmanned plane, to just.
Also, to embedding low diverging LED light pearl in the mark of the indicator light of positive guide device, in favor of the camera shooting of unmanned plane Head acquires image under low-light (level) environment.
In addition, it (is, for example, NFC/RFID that label recognizer, which is arranged, in the present embodiment on the unmanned plane aircraft gate of airplane parking area 4 Card reader), the electronic labeling information for reading unmanned plane, can be to unmanned plane after being proved to be successful to unmanned plane authentication It charges.
The course of work of the unmanned plane work system of the present embodiment is as follows：Unmanned plane is according to the parameter of airborne BMS (BATTERY MANAGEMENT SYSTEM, battery management system), sends out charge request in due course；Management and running platform obtains institute Position, aircraft gate seizure condition and other work state informations for having jurisdiction over the unmanned plane and shutdown library in range, one is matched for it Library is shut down in a rational charging, and guides its cruise to corresponding position；When unmanned plane cruises to shutdown library, pass through setting Shut down library aircraft gate on to positive guide device to just landing, pass through authentication, you can start automatic charging.Work as charging After the completion, unmanned plane, which takes off, leaves aircraft gate.
The course of work specific example of the unmanned plane work system of the present embodiment is as follows：
(1) unmanned plane sends out charge request in due course according to the parameter of airborne BMS；
UAV Intelligent management and running platform obtain administrative area in unmanned plane and unmanned plane shut down library position, nobody Machine shuts down the aircraft gate seizure condition and other work state informations in library, and is stopped to unmanned plane according to the charge request of unmanned plane The communication module of hangar sends charging reservation information, and matching a rational unmanned plane for unmanned plane shuts down library, and it is guided to patrol It navigates to corresponding position；
When unmanned plane shutdown library is connected to unmanned plane landing instruction, automatic charge device is responded, and controller will specify one A vacant library unit releases airplane parking area, such as control top library unit opens top plate 241 or other library units release airplane parking area 4；
(2) unmanned plane, which cruises according to Position Fixing Navigation System to corresponding unmanned plane, shuts down the automatic charge device top in library, Start slowly to fall, and in descent, pose adjustment constantly carried out to positive guide device 7 according to unmanned plane shutdown library, To just landing；
(3) after stablizing in unmanned plane on the airplane parking area 4 for being accommodated to and shutting down library, the label being connect at this time with controller communication is known Other device starts to scan the label of uav bottom, carries out authentication, and after identifying successfully, top plate 241 or airplane parking area 4 are received It returns, meanwhile, controller sends instruction control actuator 8 and pushes claw 51 mobile to centre, until card pushes down unmanned plane undercarriage Transverse bar 012, to fixing unmanned plane, and make the charging electrode of claw 51 and the transverse bar 012 of unmanned plane undercarriage The contact of open electrode, and also whether fastened in place by the microswitch being arranged on claw 51 with feeding back, it keeps away simultaneously Exempt to damage undercarriage 011；
(4) after claw 51 holds unmanned plane, the relay of power module is closed, and the indicator light of power module is lighted, defeated Power transmission stream charges to unmanned machine battery, meanwhile, management and running platform is informed by communication module, which shuts down the corresponding of library Aircraft gate is in charged state；
After unmanned machine battery is full of, the relay of power module disconnects, and indicator light extinguishes, and is accused by communication module Know that accordingly unmanned machine battery fills with UAV Intelligent management and running platform, while shutting down library and receiving unmanned plane standby for takeoff Instruction, ejector plate 241 or exit airplane parking area 4, two groups of claws are moved to both sides, discharge unmanned plane undercarriage, i.e. actuator 8 It pushes claw 51 to press in card to move between charge position and releasing position, unmanned plane is in state to be flown；
(5) it waits for that unmanned plane leaves aircraft gate, flies away from and shut down after library continues continuation of the journey, top plate 241 or airplane parking area 4 are closed, should Library unit is in standby, meanwhile, the unmanned plane shut down library by communication module to UAV Intelligent management and running platform more New local unmanned plane aircraft gate occupied information.
For above-mentioned unmanned plane work system, the working region of whole system can be divided into movement area, shut down library work Make three sections in area and service area.Wherein,
Movement area is the workplace of unmanned plane, and unmanned plane flies in workplace and passes through portable device measuring Target environment, acquisition corresponding data and the cloud that collected target information is sent to UAV Intelligent management and running platform End, or the status information of itself can also be sent to high in the clouds or the system controller of UAV Intelligent management and running platform, Complete the interaction of information；
It is the location for shutting down library to shut down library work area, is usually mounted with shutdown library unit, controller, remote controler etc. and sets It is standby, can this three be integrated or be separated according to demand, can realized by wired or wireless mode between this three The exchange of information.Wherein controller is the core of system, and controller obtains the external instruction to hangar, for example obtains nobody Instructions such as the control temperature that the instruction of machine takeoff and landing, high in the clouds are sent, and parse these instructions, to corresponding library unit from control Corresponding instruction is sent, is passed through from control after obtaining analysis instruction, the execution such as control actuator, temperature control module and charging equipment Mechanism executes action, the status information of the hangar of acquisition can also be sent to controller from control, for example shut down library unit to be Be closed or open, whether charging, a series of status informations, the controller such as drone status, state of temperature can be by this A little information are sent to the high in the clouds of UAV Intelligent management and running platform, can also directly be parsed to data, later according to solution The result of analysis feeds back to unmanned plane and user, for example, some other states of flight and execution for controlling unmanned plane；
Service area is the region of analyzing and processing data in data set, while being also the region of human-computer interaction.The cloud of service area The system controller of operation system is held to obtain a large amount of data, it is after the detailed analysis of these data, final result is anti- Feed user, after user obtains these information, can assign instructions, and be sent to unmanned plane or unmanned plane by high in the clouds The system controller for shutting down library, realizes the function of remote monitoring.
Embodiment 2
As the elaboration to the embodiment of the present invention 2, only the difference of the present embodiment and above-described embodiment 1 is carried out below Explanation.
The protective shell includes top plate and bottom plate, front panel, rear panel, both side plate.
Fig. 5 and Fig. 7 are referred to, the airplane parking area 4 ' of the present embodiment is a hollow out harden structure, by more between draw back plate 32 Block support plate supports, and constitutes the ventilative Stilt layer structure in both sides；It is equipped with two exhausting holes on the both side plate 33 of drawer structure setting And the LED light strip 35 for being illuminated under night environment, it is cut with scissors by hinge between the front panel 34 and draw back plate 32 of drawer structure setting It connects, pushes the hinged shaft of 34 around hinge of front panel to rotate by actuator 36, to control front panel 34 in tiling position and erection position Switch between setting.By the way that through-hole is arranged on airplane parking area 4 ' and side plate 33, and make at front panel 34 during unmanned plane rises and falls In tiled state, the rebound to rotor downwash can be efficiently reduced, improves the stability of unmanned plane during flying.
Fig. 7 is referred to, in the present embodiment, is used as to positive guide device using the Quick Response Code 42 on airplane parking area 4 ', In addition, it is additionally provided with NFC/RFID card reader, the authentication information for being included for reading the electronic tag being set on unmanned plane.
Fig. 6 is referred to, it is defeated that operating status warning lamp 91, waterproof plug for industrial use 95, power supply are installed on library unit side wall Go out socket and air switch 94, retreat 2 buttons and tight guard's valve 97.
Fig. 7 and Fig. 8 are referred to, the notch 41 slid through for claw 51 ' is equipped on airplane parking area 4 ', in order to reduce notch The resealable zipper for being opened and closed to it is arranged on the notch 41 and (does not show in figure for the influence of 41 pairs of unmanned plane descents Go out), two cloths of resealable zipper are fixed on by modes such as bondings on the two side of notch 41, and make its side and airplane parking area 4 ' Upper surface horizontal alignment, the sliding part of resealable zipper are fixedly connected with the fixed part 86 on claw 51 ' and are pulled or pushed by it, When claw 51 retreats to releasing position from card pressure charge position, to be closed to notch 41, and opened when card is pressed.
Using process, the position for the unmanned plane that claw 51 ' can be to droping on airplane parking area 4 ' is adjusted, but it is It is longitudinally adjustable, in order to enable unmanned plane to charge positioned at predeterminated position, cloth along longitudinal direction is respectively provided in aircraft gate both sides The push rod 92,93 set, the two both ends can be slided by sliding block along cross slide way not shown in the figure, so as to pass through an actuating Device pushes push rod 92,93, and transversely guide rail slides, you can is adjusted to the displacement of unmanned plane in the horizontal.Push rod 92,93, cross Direction guiding rail and matched sliding block constitute the aligning mechanism in the present embodiment together.
Fig. 8 is referred to, is fixed with voltage detection needle 82 in the present embodiment, on claw 51 ', is powered on for detecting unmanned plane Pond polarity, it is reversed and reverse current occur to prevent charging electrode, mainly occur in the case where unmanned plane does not land correctly.Two Root voltage detection needle 82 is electrically connected with the conductive electrode on the undercarriage of unmanned plane, and the conductive electrode and unmanned machine battery The electrical connection of voltage detecting foot, i.e., it has fed back situation of change of the cell voltage in charging process on unmanned plane, with can be to nothing Man-machine battery carries out distal end voltage compensation, and four tapes in the present embodiment are constituted together with two charging electrodes the anti-of voltage compensation Feedback detection charging structure, of courses, they can also be arranged to feedback detection charging knot of five lines or more with voltage compensation Structure.
Fig. 8 is referred to, the mounting groove for installing Kato 87 is offered on the matrix of claw 51 ', is installed on Kato 87 There is thermocouple, the thermocouple is for being monitored the temperature variations of claw 51 in charging process.
As shown in figure 8, the installation unit of claw 51 ' include can along longitudinal direction guide rail 81 slide slide 84, optical axis 85, straight line Flange bearing 88, preload adjustable spring mechanism 83, back seat 89 and fixed seat 98, wherein：
Back seat 89 is fixed on slide 84, and arrange along longitudinal direction and one end is fixed on back seat 89 by guide rail 81 for two optical axises 85, I.e. the length direction of optical axis 85 is installed on back seat 89 while the direction arrangement of releasing position is directed toward along card pressure charge position, straight-line method Blue bearing 88 can be slidably sleeved on along optical axis 85 on optical axis 85, and fixed seat 98 is fixedly connected with two straight line flange bearings 88, I.e. fixed seat 98 can be slidably mounted on along optical axis 85 on optical axis 85, and claw 51 ' is to be removably mounted in fixed seat 98 Fast disassembly type falcon connects charging head, is replaced when there is aging in order to charging electrode.
Preload adjustable spring mechanism 83 is arranged between fixed seat 98 and back seat 89, you can by adjusting being pressed between the two The decrement of spring forms buffering pressure convenient for it to change the pretightning force of claw 51 ' along longitudinal direction when card presses unmanned plane undercarriage Power and buffer displacement effectively ensure card pressure compactness and avoid the occurrence of hard squeeze and squeeze bad unmanned plane undercarriage or claw 51 '.It should Spring mechanism 83 includes the compression spring being pressed between back seat 89 and fixed seat 98, and can be pressed between fixed seat 98 and back seat 89 for adjusting The pull rod of contracting spacing threshold.
During the work time, temperature detection data of the processor of controller based on the thermocouple on Kato 87, execution are deposited The computer program in controller storage is stored up to realize following steps：
(1) in charging process, if detect that the temperature of claw 51 ' is higher than the first temperature threshold, control actuator drives Dynamic claw 51 ' discharges unmanned plane undercarriage, and moves to card pressure charge position again and charge, and repeats release steps and blocks again Charge step is pressed until the temperature of claw 51 ' is less than the first temperature threshold.
It is whether good with the charge contact to claw 51 ' by the detection to the temperature change in charging process of claw 51 ' Judged, to ensure the safety of charging process.
(2) it if above charging process all detects that the temperature of claw 51 ' is more than second temperature threshold value twice in succession, sends out Send the prompting for replacing electrode.
Electrode with usage time extension can continuous aging, cause its resistance to become larger, i.e. its hair in charging process Heat can be higher than new electrode, so as to be monitored to its aging conditions by monitoring temperature, is charged with prompting changing electric Pole.
Wherein, the first temperature threshold is higher than second temperature threshold value, and concrete numerical value need to be detected determination according to actual conditions.
Embodiment 3
As the elaboration to the embodiment of the present invention 3, only pair illustrated below with the difference of above-described embodiment 1.
Fig. 9 is referred to, sensor 96 is installed on the lateral wall of library unit, sensor 96 is integrated with wind sensor, light Detection data to be detected to shutting down the environmental aspect around library, and is sent to controller by sensor and rain sensor Processor, processor judges whether current ambient conditions are suitable for unmanned plane and stop according to coherent detection data, and will determine that result Unmanned plane or UAV Intelligent management and running platform are fed back to by communication module.In the present embodiment, sensor 96 is mounted on On plug-type cover board 241.
The lower section of the airplane parking area 4 of top library unit 24 is equipped with for it vertically to be released to the elevator outside protective shell Structure, in the present embodiment, elevating mechanism are selected as jack.
In the present embodiment, the communication module that unmanned plane shuts down library can be 3G, 4G, wifi or other similar channel radios Module is interrogated, the scheduling control commands and upload unmanned plane for receiving UAV Intelligent management and running platform shut down library state.
Embodiment 4
Figure 10-Figure 16 is referred to, a kind of unmanned plane for unmanned plane shutdown library provided in this embodiment is reformed and is clamped Mechanism, main a pair of of X-direction push rod 2a including being arranged on airplane parking area 1a and a pair of of Y direction push rod 3a, described one Two push rods (push rod 21a, push rod 22a) of X-direction push rod 2a are oppositely arranged and synchronizing moving, a pair of of Y-axis side It is oppositely arranged to two push rods (push rod 31a, push rod 32a) of push rod 3a and synchronizing moving, a pair of of X-direction push rod 2a It is driven by power and transmission mechanism with a pair of of Y direction push rod 3a and realizes movement, the two of the pair of X-direction push rod 2a It includes a collet 41a that two claws 4a, each claw 4a are respectively equipped on a push rod (push rod 21a, push rod 22a), each to press from both sides Head 41a has arc card pressure surface 411a, and charging electrode is equipped on each arc card pressure surface.
In other alternative embodiments, can also claw, the quantity of claw be set on a pair of of Y direction push rod 3a It can also be the other quantity other than two, may be arranged as only a part claw in addition and be equipped with charging electrode, and it is remaining A part be not provided with charging electrode.
In the present embodiment, the power of the pair of X-direction push rod 2a and transmission mechanism include two groups of belt wheels, two biographies Dynamic band 6a, a power source 7a, two groups of belt wheels are separately positioned on the opposite two sides of airplane parking area 1a, the side of the airplane parking area It is the side perpendicular with the X-direction push rod 2a, the both ends of every X-direction push rod are separately fixed at the two of airplane parking area 1a On the transmission belt of side, and the end positioned at same side of two X-direction push rods is separately positioned on the side transmission belt The first half and lower half.Wherein, first group of belt wheel includes first pulley 51a, the second belt wheel 52a, and second group of belt wheel includes third Belt wheel 53a, the 4th belt wheel 54a, the power source 7a drive the first pulley 51a, the first pulley 51a to pass through transmission belt 6a drives the second belt wheel 52a rotations, the second belt wheel 52a to drive the third belt wheel 53a to rotate by a long axis 8a, The third belt wheel 53a drives the 4th belt wheel 54a by another transmission belt 6a.In the present embodiment, two X-directions push away Bar uses the same power source 7a, and realizes synchronizing moving by the combination drive mechanism of above-mentioned belt wheel, transmission belt and long axis.With On named first pulley, the second belt wheel, third belt wheel, first, second, third, fourth in the 4th belt wheel be used only as area Point, without limitation.
In other embodiments, the power of the pair of X-direction push rod and transmission mechanism can also include being more than one A power source is arranged in a power source, i.e. every X-direction push rod, can be according to need in the transmission mechanism of every X-direction push rod The belt wheel of other sets of numbers and the transmission belt of other quantity being sleeved on every group of belt wheel are set with actual conditions.
In the present embodiment, the power of the pair of Y direction push rod 3a and transmission mechanism include two lead screw 14a, four A sliding block 9a, a power source 7a, two lead screw 14a are arranged in the opposite two sides of airplane parking area 1a, the airplane parking area 1a's Side is the side perpendicular with the Y direction push rod 3a, and the both ends of every Y direction push rod 3a are separately fixed at both sides On sliding block；Every lead screw 14a is equipped with the opposite two sections of screw threads (thread segment 141a, thread segment 142a) of hand of spiral, described dynamic Power source 7a drives first lead screw 14a, first lead screw 14a rotations then to drive two sliding block 9a phases mounted thereto To movement or it is away from each other movement, the end of the axis of first lead screw 14a and second lead screw 14a passes through synchronous belt 10a realities It is now driven, and then first lead screw 14a drives second lead screw 14a rotations, then on second lead screw 14a Two sliding block 9a move towards or be away from each other movement.Two Y direction push rods are made to use the same power source 7a, and by upper The combination drive mechanism for stating lead screw, sliding block and synchronous belt, realizes the synchronizing moving of two Y direction push rods.
In other embodiments, the power of the pair of Y direction push rod and transmission mechanism can also include being more than one A power source is arranged in a power source, i.e. every Y direction push rod, and the quantity of lead screw and the quantity of lead screw top shoe can be according to need It is deformed and is replaced.
In the present embodiment, the both ends of the X-direction push rod 2a are installed with a power source 7a by multiple connector 11a And a lead screw 14a, meanwhile, the claw 4a being arranged on the X-direction push rod 2a is contacted with some of them connector 11a Or connection, the lead screw 14a is equipped with thread segment, when above-mentioned power source 7a drives the lead screw 14a rotations, with the claw 4a Some connectors 11a of contact or connection can be slided along the lead screw 14a, and then drive the claw 4a along X-axis Direction push rod 2a is moved.The structure can be such that two claw 4a at both ends are promoted from two sides to centre, be risen to clamp unmanned plane Fall frame.
In the present embodiment, it is also equipped with elastic element (not shown), specially spring after the claw 4a, described Elastic element triggers a microswitch when being compressed to predetermined deformation quantity, and then driving claw 4a is made to be promoted along X-direction push rod 2a Power source 7a stop.The elastic element and microswitch structure ensure the contact of claw 4a and unmanned plane undercarriage top electrode Power.
In the present embodiment, multiple power source 7a are stepper motor.
In the embodiment of other deformations, the synchronization band structure of above-described embodiment can be replaced with chain drive, tool The structure of body, which is those skilled in the art, to be replaced according to prior art knowledge, be not detailed and be unfolded herein.
Figure 10 and Figure 11 are referred to, the present embodiment also provides a kind of unmanned plane shutdown library comprising airplane parking area, and equipped with upper Any unmanned plane is stated to reform and clamping device.
In the present embodiment, the middle part of the airplane parking area 1a is equipped with to just guiding mark, described to just guiding the mark to include One circular contour identifies and the I-shaped mark in circular contour mark.
In the present embodiment, the back side of the airplane parking area 1a is equipped with several structural reinforcement member 13a.
In the present embodiment, the structural reinforcement member 13a is rod-shaped, and is two bracing pieces being mutually parallel, each The both ends of bracing piece are connected in two long sides of the airplane parking area 1a.
In other embodiments, the shape, quantity of structural reinforcement member and relative position relation can also be in above structures On the basis of deformed, or use other reinforcement structures commonly used in the art, the diagram and foregoing description of the present embodiment Restriction is not made to the shape of structural reinforcement member, quantity and relative position relation.
Figure 15 is referred to, after unmanned plane 15a is parked on airplane parking area 1a, two X-direction push rod 21a, 22a and two Y Axis direction push rod 31a, 32a is promoted to the airplane parking area centre positions 1a, and is pressed against on the undercarriage of unmanned plane 15a, and figure is referred to 7, meanwhile, the arc card pressure surface 411a for connecting the claw 4a being arranged on two X-direction push rods 21a, 22a is against unmanned plane The charging electrode for falling in the vertical bar of frame, also, being arranged on arc card pressure surface 411a with it is right in the vertical bar of unmanned plane undercarriage The charging structure cooperation that should be arranged, charges to unmanned plane 15a.
A kind of unmanned plane provided in this embodiment reform with clamping device can to drop to the unmanned plane on airplane parking area into Row pushes away just, pushes away positive (groined type pushes away just) automatically by X-direction a pair of push rods and the realization of Y direction a pair of push rods, and ensure that one The synchronism of two push rods movement in group push rod, while additionally using the vertical charging claw for clamping unmanned plane under-chassis, and it is existing Some lateral clampings are compared, and another method of clamping is successfully realized.
It can be combined and be replaced mutually as needed between each technical characteristic in above example 1-4, Suo Youshi The technical characteristic for applying example is not limited only to use in this embodiment, but can also use the identical or class in other embodiments As in scene.
Above example only technical concepts and features to illustrate the invention, its object is to allow person skilled in the art Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention Equivalent change or modification made by Spirit Essence, should be covered by the protection scope of the present invention.

Claims (23)

1. a kind of unmanned plane shuts down library, including airplane parking area, it is characterised in that：Further include controller and is controlled by the controller Automatic charge device, wherein
The automatic charge device includes that a pair of of card presses component, described to block the transverse bar that pressure component includes card pressure unmanned plane undercarriage Or several claws of support leg, the walking mechanism for driving the claw to move, the driving walking mechanism move and then make described Claw presses the actuator moved between charge position and releasing position and the charging electrode being installed on the claw in card.
2. unmanned plane according to claim 1 shuts down library, it is characterised in that：
The walking mechanism include be arranged the opposite sides of airplane parking area two transverse support bars being mutually parallel, be respectively set The other opposite sides of airplane parking area two Der Laengslenkers being mutually parallel and connect respectively with two Der Laengslenkers of both sides Touch and can along the Der Laengslenker sliding several sliding blocks, wherein two ends of every transverse support bar respectively with described in one Sliding block be fixedly connected；
Several claw groupings are arranged in two transverse support bars.
3. unmanned plane according to claim 1 shuts down library, it is characterised in that：
The walking mechanism includes longitudinal rail and a pair of of the slide that can be slided along the longitudinal rail, and the longitudinal rail is along card Charge position is pressed to be directed toward the direction arrangement of releasing position, several claws are separately positioned on the pair of slide；Described Be additionally provided on airplane parking area for the claw sliding when by notch.
4. unmanned plane according to claim 3 shuts down library, it is characterised in that：
It is installed with resealable zipper between the both sides of each notch, releasing position is retreated to from card pressure charge position in the claw When, the resealable zipper, which synchronizes, closes the notch, and proceeds to the card pressure charging from releasing position in the claw When position, the notch is opened in the resealable zipper synchronization.
5. unmanned plane according to claim 4 shuts down library, it is characterised in that：There is a fixed part on the claw, it is described The sliding part of resealable zipper is fixedly connected with the fixed part on the claw.
6. unmanned plane according to claim 3 shuts down library, it is characterised in that：
Elastic buffering mechanism is additionally provided in the walking mechanism, the elastic buffering mechanism includes mainly：
It is fixed at the back seat at the slide rear portion, is arranged along the direction of the longitudinal rail and one end is installed in the back seat On optical axis, the straight line flange bearing, the preload adjustable that are arranged in the middle part of the slide and are slidably sleeved on the optical axis Elastic mechanism, the preload adjustable elastic mechanism are arranged between the straight line flange bearing and the back seat.
7. unmanned plane according to claim 6 shuts down library, it is characterised in that：It is additionally provided with fixed seat in the walking mechanism, The fixed seat is fixedly connected with the straight line flange bearing, the claw be removably mounted on it is fast in the fixed seat The formula falcon of tearing open connects charging head.
8. unmanned plane according to claim 6 shuts down library, it is characterised in that：The preload adjustable elastic mechanism includes pressure Compression spring between the back seat and the straight line flange bearing, and for adjust the straight line flange bearing and the back seat it Between compressible spacing threshold pull rod.
9. unmanned plane according to claim 1 shuts down library, it is characterised in that：
The walking mechanism includes a pair of of X-direction push rod for being arranged on airplane parking area and a pair of of Y direction push rod, and described one Two push rods of X-direction push rod are oppositely arranged and synchronizing moving, two push rods of a pair of of Y direction push rod are opposite Setting and synchronizing moving, a pair of of X-direction push rod and a pair of of Y direction push rod are by power and transmission mechanism drive Movement is realized, if being respectively equipped on two push rods of the pair of X-direction push rod or the pair of Y direction push rod described Dry claw.
10. unmanned plane according to claim 1 shuts down library, it is characterised in that：The centre position of the airplane parking area be equipped with pair Positive guide device.
11. unmanned plane according to claim 10 shuts down library, it is characterised in that：Described includes U-shaped finger to positive guide device Show lamp and rectangular indicator light, round indicator light and triangle indicator light in the enclosed region of the U-shaped indicator light.
12. unmanned plane according to claim 10 shuts down library, it is characterised in that：Described is Quick Response Code to positive guide device.
13. unmanned plane according to claim 10 shuts down library, it is characterised in that：Described includes circular wheel to positive guide device I-shaped mark wide and being arranged in the circular contour.
14. unmanned plane according to claim 1 shuts down library, it is characterised in that：
Card is installed on the claw and is pressed onto a detection switch.
15. unmanned plane according to claim 1 shuts down library, it is characterised in that：
Be fixed with several voltage detection needles on the claw, the voltage detection needle constituted together with the charging electrode four lines with The upper feedback with voltage compensation detects charging structure.
16. unmanned plane according to claim 1 shuts down library, it is characterised in that：
The charging electrode is the conductive fibre fabric being attached on the card pressure surface of the claw or net metal electrode.
17. unmanned plane according to claim 1 shuts down library, it is characterised in that：
The airplane parking area is equipped with NFC/RFID card reader at its aircraft gate；
Wind sensor, optical sensor and rain sensor are installed on the outer wall in unmanned plane shutdown library.
18. unmanned plane according to claim 1 shuts down library, it is characterised in that：
The unmanned plane shuts down the library unit that library includes two layers or more, is top library unit positioned at top layer, each library Unit includes braced frame, protective shell and the airplane parking area in the protective shell and the automatic charge device；
Library unit below the top library unit further includes the plug-type drawer structure being mounted in the protective shell, institute State the actuator that plug-type drawer structure includes the transversely guide rail sliding of draw back plate and the driving draw back plate, the airplane parking area with The card pressure component is mounted on the draw back plate.
19. unmanned plane according to claim 18 shuts down library, it is characterised in that：
The airplane parking area is engraved structure, and is supported by polylith support plate between the airplane parking area and the draw back plate, structure At the Stilt layer structure that both sides are ventilative；There are the plug-type drawer structure several side plates, the side plate to be equipped with multiple through-holes.
20. unmanned plane according to claim 18 shuts down library, it is characterised in that：
The push-and-pull direction of the draw back plate of adjacent two layers library unit is opposite or mutually orthogonal.
21. unmanned plane according to claim 18 shuts down library, it is characterised in that：
The protective shell includes top plate and bottom plate, rear panel, both side plate, the draw back plate of the plug-type drawer structure and a front Plate is hinged, and the plug-type drawer structure, which is equipped with, pushes the front panel to be rotated between closed position and tiling position around hinged shaft Actuator.
22. unmanned plane according to claim 1 shuts down library, it is characterised in that：Further include temperature control module, power module, lead to Believe module and locating module, wherein the controller is electrically connected respectively with temperature control module, power module, communication module, locating module It connects.
23. unmanned plane according to claim 1 shuts down library, it is characterised in that：
The claw is equipped with temperature element, and the controller has memory and processor, during the work time, the control Temperature detection data of the processor of device based on the temperature element execute the computer being stored in the controller storage Program is to realize following steps：
In charging process, if detect the first temperature threshold that the temperature of the claw is set higher than one, the cause is controlled Dynamic device drives the claw to discharge the transverse bar or support leg of the unmanned plane undercarriage, and move to again card press charge position into Row charging repeats release steps with card pressure charge step again until the temperature of the claw is less than the first temperature threshold；
If above charging process all detects that the temperature of claw is more than the second temperature threshold value of a setting twice in succession, send Replace the prompting of electrode.
CN201810517922.8A 2017-05-27 2018-05-25 Unmanned aerial vehicle parking garage Active CN108502201B (en)

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