CN109533341B - Logistics aircraft and cargo hold, control system and control method for automatic docking and detaching of logistics aircraft and cargo hold - Google Patents
Logistics aircraft and cargo hold, control system and control method for automatic docking and detaching of logistics aircraft and cargo hold Download PDFInfo
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- CN109533341B CN109533341B CN201811101446.8A CN201811101446A CN109533341B CN 109533341 B CN109533341 B CN 109533341B CN 201811101446 A CN201811101446 A CN 201811101446A CN 109533341 B CN109533341 B CN 109533341B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
A logistics aircraft and a cargo hold, wherein a fixed locking device is arranged between the aircraft and the cargo hold, and the aircraft can be detachably connected with the cargo hold through the fixed locking device; the fixed locking device comprises a first locking block arranged on the aircraft and a second locking block arranged on the cargo hold and matched with the first locking block; the first locking blocks are uniformly distributed on the same plane of the aircraft, the second locking blocks are uniformly distributed on the same plane of the cargo hold, and the first locking blocks can be matched with the second locking blocks so that the aircraft and the cargo hold are connected together. The invention also provides a control system for automatically butting and separating the logistics aircraft from the cargo hold and a control method for automatically butting and separating the logistics aircraft from the cargo hold. The invention can solve the problems of low cargo hold loading and unloading efficiency and the like caused by long sliding rails, easy deformation of the sliding rails and small sliding groove gaps in the sliding rails in the cargo hold loading and unloading on the horizontal plane in the prior art.
Description
Technical Field
The invention relates to the technical field of logistics transportation of aircrafts, in particular to a logistics aircraft, a cargo hold, a control system and a control method for automatic butt joint and separation of the logistics aircraft and the cargo hold.
Background
The chinese invention patent with application number cn106114866.A, entitled unmanned aerial vehicle cargo compartment, provides an unmanned aerial vehicle cargo compartment comprising: a group of first connecting plates and a group of second connecting plates which are parallel to each other, wherein the bottoms of one group of first connecting plates and one group of second connecting plates are closed by a bottom plate, and adjacent first connecting plates and second connecting plates are connected at corners through upright posts; at least one first connecting plate is equipped with first locking piece in the corner position that is close to a department, the top of locking piece is equipped with the second locking piece, the second locking piece can set up on the slide rail of unmanned aerial vehicle body, unmanned aerial vehicle cargo hold can be followed slide rail horizontal migration and pass through first locking piece with second locking piece locking. Above-mentioned prior art has adopted unmanned aerial vehicle slide rail and the cooperation of first locking piece to load and unload for reaching quick loading and unloading and auto-lock's purpose, adopts first locking piece and the cooperation of second locking piece, carries out the auto-lock.
In the above-mentioned prior art, when cargo hold loads, unmanned aerial vehicle needs to support at ground, has the support frame, because the high restriction of support frame, the design length and width of cargo hold is high, and the size of length and width is greater than the size of height to prior art adopts horizontal slide rail, so the length of ware slide rail is longer, and the cargo hold is in the process of loading and unloading, and required time is long, and cargo hold loading and unloading is inefficiency. The loading and unloading of the cargo hold, the first locking block needs to move on the sliding rail, the cargo hold moves, namely, the center of gravity moves, so that the pressure of the first locking block on the sliding rail can be concentrated on one point, and the sliding rail can be caused to deform due to frequent use times, so that the loading and unloading efficiency of the cargo hold is affected. The sliding rail sliding groove is matched with the first locking block, the first locking block is not easy to align with the sliding rail due to the fact that the sliding groove is matched with the first locking block in size due to the fact that the sliding groove is limited by the first locking block in the vertical direction and the gap of the sliding groove is matched with the thickness of the first locking block, and therefore loading efficiency is low.
Disclosure of Invention
The invention aims to overcome at least one defect in the prior art, and provides a logistics aircraft, a cargo hold, a control system and a control method for automatically docking and detaching the logistics aircraft and the cargo hold. The invention can solve the problems of low cargo hold loading and unloading efficiency and the like caused by long sliding rails, easy deformation of the sliding rails and small sliding groove gaps in the sliding rails in the cargo hold loading and unloading on the horizontal plane in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme: a logistics aircraft and a cargo hold, wherein a fixed locking device is arranged between the aircraft and the cargo hold, and the aircraft can be detachably connected with the cargo hold through the fixed locking device; the fixed locking device comprises a first locking block arranged on the aircraft and a second locking block arranged on the cargo hold and matched with the first locking block; the first locking blocks are uniformly distributed on the same plane of the aircraft, the second locking blocks are uniformly distributed on the same plane of the cargo hold, and the first locking blocks can be matched with the second locking blocks so that the aircraft and the cargo hold are connected together.
Further, the first locking block comprises a first fixing plate and a first locking block main body arranged on the first fixing plate, the first locking block is fixed on the aircraft through the first fixing plate, and the first fixing plate can be fixed on the aircraft through the cooperation of the first locking block and the screw or can be designed integrally with the aircraft; the first locking block main body is provided with a fixing hole, a sliding groove with one end connected with the fixing hole, and a first guide inclined plane and a second guide inclined plane connected with the other end of the sliding groove, and one end, far away from the first fixing plate, of the first locking block main body is also provided with a third guide surface.
Further, the second locking block comprises a second fixing plate and a second locking block main body arranged on the second fixing plate, the second locking block is fixed on the cargo hold through the second fixing plate, and the second fixing plate can be fixed on the cargo hold through the cooperation of the second locking block and the screw, and can also be designed integrally with the cargo hold; the second locking piece main part on be equipped with the main part recess of first locking piece main part looks adaptation, be equipped with electromagnetic lock structure on the main part recess lateral wall, be equipped with the roll wheel structure on the lateral wall that the main part recess is close to notch department, still be equipped with opening change mechanism on the notch of main part recess.
Further, the electromagnetic lock structure comprises an electromagnet, a locking rod and a first spring, wherein the electromagnet is arranged on the side wall of the main body groove, the locking rod is arranged on the side wall of the main body groove in a penetrating mode, one end of the first spring is connected with the electromagnet, the other end of the first spring is connected with the locking rod, and a pressure sensor is arranged on the first spring. The electromagnetic lock structure is connected with a second controller on the cargo hold, and the second controller controls whether the electromagnet is electrified or not, so that the movement of the locking rod is controlled. When the aircraft and the cargo hold need to be loaded, after the first locking block and the second locking block are aligned, under the action of gravity, the aircraft moves downwards with the first locking block, the first guiding inclined plane is contacted with the locking rod at first, the locking rod continues to move downwards, the locking rod moves to a direction far away from the first locking block to compress the first spring under the action of the gravity of the aircraft body and the first guiding inclined plane, the first locking block continues to move downwards, the locking rod may contact with the second guiding inclined plane first and then is guided into the sliding groove, or directly enters the sliding groove, the locking rod reaches the fixed hole under the guidance of the sliding groove, the locking rod enters the fixed hole under the action of the first spring, and then the first locking block and the second locking block are locked, at the moment, the aircraft and the cargo hold are loaded, and take-off transportation can be executed. When the aircraft carries the cargo hold and needs to unload the cargo hold after reaching the destination, the second controller controls the electromagnet to be electrified, the locking rod is close to the electromagnet under the action of the electromagnet, at the moment, the locking rod is separated from the fixed hole, whether the locking rod is completely separated from the fixed hole can be judged through the pressure detected by the pressure sensor on the first spring, and if the locking rod is completely separated from the fixed hole, the first locking block and the second locking block are unlocked, so that the aircraft take-off and the cargo hold can be controlled.
Further, the rolling wheel structure comprises a rolling wheel and a rolling wheel shaft, a mounting position is arranged on the side wall of the main body groove close to the notch, the rolling wheel is fixedly mounted in the mounting position through the rolling wheel shaft, and the small part of the rolling wheel protrudes out of the inner wall of the main body groove. The effect of roll round structure is, when first locking piece gets into the main part recess, turns into rolling friction with sliding friction, reduces frictional resistance to the main part recess of second locking piece is entered into to the first locking piece main part of first locking piece can be easier, the completion is mated and is connected.
Further, the opening change mechanism comprises a rotating block, a connecting rod, a guide rod, a transmission plate, a rotating shaft and a second spring, wherein a first groove is formed in the top end of the side wall of the main body groove, a second groove and a first guide groove are formed in the rotating block, the guide rod penetrates through the first guide groove, two opposite side walls of the two ends of the guide rod are connected with the first groove, the rotating block is rotationally connected with the first groove through the rotating shaft, the transmission plate is arranged at the bottom inside the main body groove, the second spring is arranged between the transmission plate and the bottom wall of the main body groove, a guide hole and a second guide groove communicated with the guide hole are formed in the side wall of the main body groove, the connecting rod is arranged in the guide hole, the transmission plate is matched with the second guide groove, one end of the connecting rod is connected with the transmission plate, and the other end of the connecting rod is arranged in the second groove and rotationally connected with the rotating shaft. The working principle is that, initially, the rotating block is turned over to the outside of the top opening of the main body groove, after the first locking block main body enters the main body groove to contact with the transmission plate, the transmission plate continues to move downwards, the transmission plate is driven by the pressure transmitted by the first locking block main body to drive the connecting rod to compress the second spring downwards, the rotating block is contracted in the first groove at the top of the second locking block under the interaction of the connecting rod, the guide rod, the first guide groove and the second guide groove, and the end face of the rotating block is clung to the side wall of the first locking block main body. When the first locking block main body leaves the transmission plate, the pressure on the transmission plate is withdrawn, the transmission plate pushes the connecting rod to move upwards under the action of the second spring, and the rotating block leaves the first groove at the top of the second locking block and overturns to the outer side of the top opening of the main body groove under the interaction of the connecting rod, the guide rod, the first guide groove and the second guide groove. By means of the design, the size of the top opening of the main body groove can be designed to be larger than that of the main body of the first locking block, so that the main body of the first locking block can be matched with the main body groove quickly and accurately, after the main body of the first locking block enters the main body groove, the rotating block of the opening change mechanism can be tightly attached to the side wall of the main body of the first locking block, and the situation that a gap exists between the top opening of the main body groove and the main body of the first locking block to shake is avoided.
The invention also provides a control system for automatically docking and detaching the logistics aircraft from the cargo hold, which comprises a logistics platform, an aircraft control system and a cargo hold control system, wherein the aircraft control system and the cargo hold control system can be communicated with the logistics platform, and the aircraft control system comprises the following components which are sequentially connected:
the first receiving/transmitting signal module is used for receiving signals of the logistics platform, acquiring cargo compartment related information from the signals and transmitting related information of the aircraft;
the first position coordinate detection module is used for detecting the coordinate position of a point on the aircraft;
the flight attitude detection module is used for detecting the flight attitude of the aircraft in the air;
provided on an aircraft:
the first processor is used for receiving the information sent by the first receiving/sending signal module and processing the received information to generate an aircraft action instruction;
the first controller is used for receiving the instruction of the first processor and controlling the aircraft to finish the related instruction; controlling the aircraft to move, and controlling the aircraft to adjust the gesture, so that the first locking block on the aircraft and the second locking block on the cargo hold are roughly aligned;
the cargo hold control system comprises the following components:
the second position coordinate detection module is used for detecting the coordinate position of a point on the cargo hold;
the position state detection module is used for detecting the position state of the cargo hold;
the second signal receiving/transmitting module is used for transmitting cargo hold request carrying information, position coordinate information and position state information to the logistics platform and receiving information transmitted by the aircraft;
and is arranged on the cargo hold:
the second processor is used for processing the related information of the aircraft and generating a fixed locking device action instruction;
the second controller is used for receiving the action command generated by the second processing module and controlling the fixed locking device to finish the command action; the second controller is electrically connected with the electromagnet and a pressure sensor on the first spring.
The invention also provides a control method for automatically docking the logistics aircraft with the cargo hold, which comprises the following steps:
s1, sending cargo hold request carrying information to a logistics platform by a cargo hold to be loaded, wherein the logistics platform detects an aircraft carrying event at the moment, and the logistics platform determines an acquired cargo hold center coordinate point A as a first target point; then, the logistics platform acquires the coordinates of the central point A ' of the aircraft, analyzes the height of the central point A ' of the aircraft, judges whether the height value is larger than a certain preset threshold value, if not, controls the aircraft to move upwards according to the height value, acquires the height value of the central point A ' of a new aircraft after movement, and judges again; if the height value is greater than the preset threshold value, maintaining or not being smaller than the height value, and performing step S2;
s2, analyzing the coordinates of the central point A 'of the aircraft and the coordinates of the first target point, calculating the distance between the two points, judging whether the distance is within a preset threshold range, if not, controlling the aircraft to move towards the first target point according to the distance value, acquiring the coordinates of the central point A' of the new aircraft after movement, and calculating the distance between the two points again to judge; if the preset threshold value is within the preset threshold value range, performing step S3;
s3, taking the acquired cargo hold state as a target state, wherein the cargo hold state is an angle value of deviation of an x axis, a y axis and a z axis of the cargo hold main body detected by the position state detection module, the flight attitude of the aircraft is the angle value of deviation of the x axis, the y axis and the z axis of the aircraft detected by the flight attitude detection module, and judging whether the flight attitude of the aircraft is consistent with the target state or not, wherein the consistency ratio is not consistent in an absolute sense, but opposite, that is, the flight attitude of the aircraft and the target state can have some deviation, and the deviation can be corrected through a mechanical structure, so that the docking is completed; judging whether the flight attitude of the aircraft is consistent with the target state, namely judging whether the angle difference between the angle values of the x-axis, the y-axis and the z-axis of the cargo hold main body and the angle values of the x-axis, the y-axis and the z-axis of the aircraft are respectively within a certain preset threshold value range; if the target states are inconsistent, controlling the aircraft to adjust the gesture, acquiring the flight gesture of the aircraft after adjustment, and comparing and judging with the target states; if the two types of the data are consistent, performing a step S4;
s4, executing alignment connection of the first locking block of the aircraft falling onto the aircraft and the second locking block of the cargo hold, acquiring a height value of the current aircraft, judging whether the height value is within a certain preset threshold range, and if not, returning to the step S3; if yes, judging that the alignment connection of the current aircraft and the cargo hold is completed, and controlling the aircraft to take off.
The invention also provides a control method for automatically separating the logistics aircraft from the cargo hold, which comprises the following steps:
s1, after the cargo hold is carried by the aircraft, the cargo hold sends a cargo hold request separation information to a logistics platform, at the moment, the logistics platform detects an automatic separation event of the aircraft and the cargo hold, the cargo hold controls an electromagnetic lock structure on a second locking block to unlock, and a pressure sensor is called by a second controller to detect a pressure value received by a first spring;
s2, judging whether the pressure value is larger than a certain preset threshold value, and if not, returning to the step S1; if yes, controlling the aircraft to rise upwards, adjusting the flight attitude, enabling the aircraft to move upwards stably, and acquiring the height value of the aircraft;
s3, judging whether the height value is larger than a certain preset threshold value, and if not, returning to the step S2; if yes, the first locking block and the second locking block are separated, the cargo hold controls the electromagnetic locking structure on the second locking block to restore to the initial state, and the aircraft enters the next carrying event.
Compared with the prior art, the invention has the beneficial effects that:
the aircraft is assembled and disassembled with the cargo hold in the vertical direction, the moving path of the first locking block is short, and the time required by the movement is short; the loading and unloading of the aircraft and the cargo hold in the vertical direction are adopted, so that the problem that the loading and unloading efficiency of the cargo hold is affected due to the fact that the sliding rail is caused to deform under the action of pressure generated on the sliding rail is avoided; the first locking block and the second locking block are aligned, the opening size of the first locking block is larger than that of the first locking block, and the rolling wheel structure is arranged, so that friction resistance is reduced, and alignment is facilitated; the first locking block and the second locking block are respectively provided with a fixing hole and an electromagnetic lock structure matched with the fixing holes, so that the aircraft and the cargo hold are firmly locked after being loaded, and the aircraft and the cargo hold are safe and reliable.
Drawings
FIG. 1 is a schematic view of the overall structure of a second lock block of the present invention;
FIG. 2 is a schematic view of the overall structure of the first lock block of the present invention;
FIG. 3 is a schematic diagram I of the structure of the turning block of the opening varying mechanism of the present invention in a contracted state;
FIG. 4 is a schematic diagram II of the structure of the turning block of the opening varying mechanism of the present invention in a contracted state;
FIG. 5 is a longitudinal cross-sectional view of a second lock block of the present invention;
FIG. 6 is a schematic illustration of the connection of a rotating block and a connecting rod of the present invention;
FIG. 7 is a schematic top view of a second lock block of the present invention;
FIG. 8 is a schematic structural view I of the aircraft control system of the present invention;
FIG. 9 is a schematic structural view II of the aircraft control system of the present invention;
FIG. 10 is a schematic diagram I of the cargo space control system of the present invention;
FIG. 11 is a schematic diagram II of the cargo hold control system of the present invention;
FIG. 12 is a flow chart of a control method for automatically docking an aircraft to a cargo compartment in accordance with the present invention;
FIG. 13 is a flow chart of a control method for automatically separating an aircraft from a cargo tank in accordance with the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the present patent; for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationship depicted in the drawings is for illustrative purposes only and is not to be construed as limiting the present patent.
Example 1
As shown in fig. 1 to 7, a logistics aircraft and a cargo hold, wherein a fixed locking device is arranged between the aircraft and the cargo hold, and the aircraft can be detachably connected with the cargo hold through the fixed locking device; the fixed locking device comprises a first locking block 1 arranged on the aircraft and a second locking block 2 which is arranged on the cargo hold and matched with the first locking block 1; the first locking blocks 1 are uniformly distributed on the same plane of the aircraft, the second locking blocks 2 are uniformly distributed on the same plane of the cargo hold, and the first locking blocks 1 can be mutually matched with the second locking blocks 2 so that the aircraft and the cargo hold are connected together.
As shown in fig. 1 to 7, the first locking block 1 includes a first fixing plate 11 and a first locking block main body 12 provided on the first fixing plate 11, the first locking block 1 is fixed on the aircraft through the first fixing plate 11, and the first fixing plate 11 can be fixed on the aircraft through the cooperation with a screw or can be designed integrally with the aircraft; the first locking block main body 12 is provided with a fixing hole 13, a chute 14 with one end connected with the fixing hole 13, and a first guiding inclined plane 15 and a second guiding inclined plane 16 connected with the other end of the chute 14, and one end of the first locking block main body 12 far away from the first fixing plate 11 is also provided with a third guiding surface 17.
As shown in fig. 1 to 7, the second locking block 2 includes a second fixing plate 21 and a second locking block body 22 provided on the second fixing plate 21, the second locking block 2 is fixed on the cargo compartment through the second fixing plate 21, and the second fixing plate 21 may be fixed on the cargo compartment through the cooperation with a screw or may be integrally designed with the cargo compartment; the second locking block main body 22 is provided with a main body groove 23 matched with the first locking block main body 12, the side wall of the main body groove 23 is provided with an electromagnetic lock structure, the side wall of the main body groove 23, which is close to the notch, is provided with a rolling wheel structure, and the notch of the main body groove 23 is also provided with an opening change mechanism.
As shown in fig. 1 to 7, the electromagnetic lock structure includes an electromagnet 3, a locking rod 4 and a first spring 5, the electromagnet 3 is disposed on a side wall of the main body groove 23, the locking rod 4 is disposed on a side wall of the main body groove 23 in a penetrating manner, one end of the first spring 5 is connected with the electromagnet 3, the other end of the first spring is connected with the locking rod 4, and a pressure sensor is disposed on the first spring 5. The electromagnetic lock structure is connected with a second controller on the cargo hold, and the second controller controls whether the electromagnet 3 is electrified or not, so that the movement of the locking rod 4 is controlled. When the aircraft and the cargo hold need to be loaded, after the first locking block 1 and the second locking block 2 are aligned, under the action of gravity, the aircraft moves downwards with the first locking block 1, first contacts with the locking rod 4, and continues to move downwards, the locking rod 4 moves to a direction away from the first locking block 1 under the action of the gravity of the aircraft body and the first guiding inclined plane 15 to compress the first spring 5, the first locking block 1 continues to move downwards, the locking rod 4 may contact with the second guiding inclined plane 16 first and then is guided into the chute 14, or directly enters into the chute 14, under the guidance of the chute 14, the locking rod 4 reaches the fixed hole 13, and then the locking rod 4 enters into the fixed hole 13 under the action of the first spring 5, so that the first locking block 1 and the second locking block 2 are locked, and at this time, the aircraft and the cargo hold finish loading, and take-off transportation can be executed. When the aircraft is loaded in the cargo hold and the cargo hold reaches the destination and the cargo hold needs to be unloaded, the second controller controls the electromagnet 3 to be electrified, and the locking rod 4 approaches the electromagnet 3 under the action of the electromagnet 3. At this time, the locking rod 4 is separated from the fixing hole 13, whether the locking rod 4 is completely separated from the fixing hole 13 can be judged by the pressure detected by the pressure sensor on the first spring 5, and if the locking rod 4 is completely separated from the fixing hole 13, the first locking block 1 and the second locking block 2 are unlocked, and at this time, the take-off and the cargo hold of the aircraft can be controlled.
As shown in fig. 1 to 7, the roller wheel structure comprises a roller 6 and a roller shaft 7, a mounting position 8 is arranged on the side wall of the main body groove 23 close to the notch, the roller 6 is fixedly mounted in the mounting position 8 through the roller shaft 7, and a small part of the roller 6 protrudes out of the inner wall of the main body groove 23. The rolling wheel structure has the function of converting sliding friction into rolling friction when the first locking block 1 enters the main body groove 23, and reducing friction resistance. So that the first locking piece body 12 of the first locking piece 1 can more easily enter the body groove 23 of the second locking piece 2 to complete the mating connection.
As shown in fig. 1 to 7, the opening changing mechanism comprises a rotating block 9, a connecting rod 10, a guide rod 18, a transmission plate 19, a rotating shaft 20 and a second spring 24, wherein a first groove is arranged on the top end of the side wall of the main body groove 23, a second groove 25 and a first guide groove 26 are arranged on the rotating block 9, the guide rod 18 is penetrated in the first guide groove 26, two opposite side walls of the guide rod 18 are connected with the first groove, the rotating block 9 is rotatably connected in the first groove through the rotating shaft 20, the transmission plate 19 is arranged at the bottom of the inside of the main body groove 23, the second spring 24 is arranged between the transmission plate 19 and the bottom wall of the main body groove 23, a guide hole 27 and a second guide groove 28 communicated with the guide hole 27 are arranged on the side wall of the main body groove 23, the connecting rod 10 is arranged in the guide hole 27, the transmission plate 19 is matched with the second guide groove 28, one end of the connecting rod 10 is connected with the transmission plate 19, and the other end of the connecting rod is arranged in the second groove 25 and rotatably connected with the rotating shaft 20. The working principle is that, at first, the rotating block 9 is turned over to the outside of the top opening of the main body groove 23, when the first locking block main body 12 enters the main body groove 23 to contact with the transmission plate 19, the transmission plate 19 continues to move downwards, the transmission plate 19 is driven by the pressure transmitted by the first locking block main body 12 to drive the connecting rod 10 to compress the second spring 24 downwards, the rotating block 9 is contracted in the first groove at the top of the second locking block 2 under the interaction of the connecting rod 10, the guide rod 18, the first guide groove 26 and the second guide groove 28, and the end face of the rotating block 9 is clung to the side wall of the first locking block main body 12. When the first locking block main body 12 leaves the transmission plate 19, the pressure on the transmission plate 19 is removed, the transmission plate 19 pushes the connecting rod 10 to move upwards under the action of the second spring 24, and the rotating block 9 leaves the first groove at the top of the second locking block 2 and turns over to the outside of the top opening of the main body groove 23 under the interaction of the connecting rod 10, the guide rod 18, the first guide groove 26 and the second guide groove 28. By means of the design, the size of the top opening of the main body groove 23 can be designed to be larger than that of the first locking block main body 12, so that the first locking block main body 12 and the main body groove 23 can be matched quickly and accurately, when the first locking block main body 12 enters the main body groove 23, the rotating block 9 of the opening change mechanism can be tightly attached to the side wall of the first locking block main body 12, and the situation that a gap exists between the top opening of the main body groove 23 and the first locking block main body 12 to shake is avoided.
Example 2
As shown in fig. 8 to 11, a control system for automatically docking and detaching a logistics aircraft from a cargo space, which comprises a logistics platform, an aircraft control system capable of communicating with the logistics platform, and a cargo space control system, wherein the aircraft control system comprises:
the first receiving/transmitting signal module is used for receiving signals of the logistics platform, acquiring cargo compartment related information from the signals and transmitting related information of the aircraft;
the first position coordinate detection module is used for detecting the coordinate position of a point on the aircraft;
the flight attitude detection module is used for detecting the flight attitude of the aircraft in the air;
provided on an aircraft:
the first processor is used for receiving the information sent by the first receiving/sending signal module and processing the received information to generate an aircraft action instruction;
the first controller is used for receiving the instruction of the first processor and controlling the aircraft to finish the related instruction; controlling the aircraft to move, and controlling the aircraft to adjust the gesture, so that the first locking block 1 on the aircraft and the second locking block 2 on the cargo hold complete rough alignment;
the cargo hold control system comprises the following components:
the second position coordinate detection module is used for detecting the coordinate position of a point on the cargo hold;
the position state detection module is used for detecting the position state of the cargo hold;
the second signal receiving/transmitting module is used for transmitting cargo hold request carrying information, position coordinate information and position state information to the logistics platform and receiving information transmitted by the aircraft;
and is arranged on the cargo hold:
the second processor is used for processing the related information of the aircraft and generating a fixed locking device action instruction;
the second controller is used for receiving the action command generated by the second processing module and controlling the fixed locking device to finish the command action; the second controller is electrically connected with the electromagnet 3 and the pressure sensor on the first spring 5.
Example 3
As shown in fig. 12, a control method for automatically docking a logistics aircraft with a cargo hold comprises the following steps:
s1, sending cargo hold request carrying information to a logistics platform by a cargo hold to be loaded, wherein the logistics platform detects an aircraft carrying event at the moment, and the logistics platform determines an acquired cargo hold center coordinate point A as a first target point; then, the logistics platform acquires the coordinates of the central point A ' of the aircraft, analyzes the height of the central point A ' of the aircraft, judges whether the height value is larger than a certain preset threshold value, if not, controls the aircraft to move upwards according to the height value, acquires the height value of the central point A ' of a new aircraft after movement, and judges again; if the height value is larger than the preset threshold value, maintaining or not smaller than the height value to carry out step S2;
s2, analyzing the coordinates of the central point A 'of the aircraft and the coordinates of the first target point, calculating the distance between the two points, judging whether the distance is within a preset threshold range, if not, controlling the aircraft to move towards the first target point according to the distance value, acquiring the coordinates of the central point A' of the new aircraft after movement, and calculating the distance between the two points again to judge; if the preset threshold value is within the preset threshold value range, performing step S3;
s3, taking the acquired cargo hold state as a target state, wherein the cargo hold state is an angle value of deviation of an x axis, a y axis and a z axis of the cargo hold main body detected by the position state detection module, the flight attitude of the aircraft is the angle value of deviation of the x axis, the y axis and the z axis of the aircraft detected by the flight attitude detection module, and judging whether the flight attitude of the aircraft is consistent with the target state or not, wherein the consistency ratio is not consistent in an absolute sense, but opposite, that is, the flight attitude of the aircraft and the target state can have some deviation, and the deviation can be corrected through a mechanical structure, so that the docking is completed; judging whether the flight attitude of the aircraft is consistent with the target state, namely judging whether the angle difference between the angle values of the x-axis, the y-axis and the z-axis of the cargo hold main body and the angle values of the x-axis, the y-axis and the z-axis of the aircraft are respectively within a certain preset threshold value range; if the target states are inconsistent, controlling the aircraft to adjust the gesture, acquiring the flight gesture of the aircraft after adjustment, and comparing and judging with the target states; if the two types of the data are consistent, performing a step S4;
s4, executing alignment connection of the first locking block 1 of the aircraft falling onto the aircraft and the second locking block 2 of the cargo hold, acquiring a height value of the current aircraft, judging whether the height value is within a certain preset threshold range, and if not, returning to the step S3; if yes, judging that the alignment connection of the current aircraft and the cargo hold is completed, and controlling the aircraft to take off.
Example 4
As shown in fig. 13, a control method for automatically separating a logistics aircraft from a cargo space comprises the following steps:
s1, after an aircraft carries a cargo hold, the cargo hold sends a cargo hold request separation information to a logistics platform, at the moment, the logistics platform detects an automatic separation event of the aircraft and the cargo hold, the cargo hold controls an electromagnetic lock structure on a second locking block 2 to unlock, and a second controller calls a pressure sensor to detect a pressure value received by a first spring 5;
s2, judging whether the pressure value is larger than a certain preset threshold value, and if not, returning to the step S1; if yes, controlling the aircraft to rise upwards, adjusting the flight attitude, enabling the aircraft to move upwards stably, and acquiring the height value of the aircraft;
s3, judging whether the height value is larger than a certain preset threshold value, and if not, returning to the step S2; if yes, the first locking block 1 and the second locking block 2 are separated, the cargo hold controls the electromagnetic locking structure on the second locking block 2 to restore to the initial state, and the aircraft enters the next carrying event.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (5)
1. The logistics flight transportation system is characterized by comprising an aircraft and a cargo hold, wherein a fixed locking device is arranged between the aircraft and the cargo hold, and the aircraft can be detachably connected with the cargo hold through the fixed locking device; the fixed locking device comprises a first locking block (1) arranged on the aircraft and a second locking block (2) which is arranged on the cargo hold and matched with the first locking block (1); the first locking blocks (1) are uniformly distributed on the same plane of the aircraft, the second locking blocks (2) are uniformly distributed on the same plane of the cargo hold, and the first locking blocks (1) can be matched with the second locking blocks (2) so as to connect the aircraft with the cargo hold;
the first locking block (1) comprises a first fixing plate (11) and a first locking block main body (12) arranged on the first fixing plate (11), the first locking block (1) is fixed on the aircraft through the first fixing plate (11), a fixing hole (13), a sliding groove (14) with one end connected with the fixing hole (13), and a first guide inclined surface (15) and a second guide inclined surface (16) connected with the other end of the sliding groove (14) are arranged on the first locking block main body (12), and a third guide surface (17) is further arranged at one end, far away from the first fixing plate (11), of the first locking block main body (12);
the second locking block (2) comprises a second fixing plate (21) and a second locking block main body (22) arranged on the second fixing plate (21), the second locking block (2) is fixed on the cargo compartment through the second fixing plate (21), a main body groove (23) matched with the first locking block main body (12) is formed in the second locking block main body (22), an electromagnetic locking structure is formed in the side wall of the main body groove (23), a rolling wheel structure is arranged on the side wall, close to a notch, of the main body groove (23), and an opening change mechanism is further arranged on the notch of the main body groove (23);
the opening change mechanism comprises a rotating block (9), a connecting rod (10), a guide rod (18), a transmission plate (19), a rotating shaft (20) and a second spring (24), wherein a first groove is formed in the top end of the side wall of the main body groove (23), a second groove (25) and a first guide groove (26) are formed in the rotating block (9), the guide rod (18) is arranged in the first guide groove (26) in a penetrating mode, two opposite side walls of the guide rod (18) are connected with the first groove, the rotating block (9) is connected in the first groove in a rotating mode through the rotating shaft (20), the transmission plate (19) is arranged at the bottom of the inside of the main body groove (23), the second spring (24) is arranged between the transmission plate (19) and the bottom wall of the main body groove (23), a guide hole (27) and a second guide groove (28) communicated with the guide hole (27) are formed in the side wall of the main body groove (23), the connecting rod (10) is arranged in the guide hole (27), the transmission plate (19) is connected with the second guide groove (28) in a rotating mode, and the other end of the transmission plate (20) is connected with the second groove (25);
the electromagnetic lock structure comprises an electromagnet (3), a locking rod (4) and a first spring (5), wherein the electromagnet (3) is arranged outside a main body groove (23), the locking rod (4) is arranged on the side wall of the main body groove (23) in a penetrating mode, one end of the first spring (5) is connected with the electromagnet (3), the other end of the first spring is connected with the locking rod (4), and a pressure sensor is arranged on the first spring (5).
2. A logistics flying transport system according to claim 1, characterized in that the rolling wheel structure comprises a rolling wheel (6) and a rolling wheel shaft (7), wherein a mounting position (8) is arranged on the side wall of the main body groove (23) close to the notch, the rolling wheel (6) is fixedly mounted in the mounting position (8) through the rolling wheel shaft (7), and a small part of the rolling wheel (6) protrudes out of the inner wall of the main body groove (23).
3. A control system for automatically interfacing and decoupling an aircraft from a cargo hold of a logistics transportation system in accordance with claim 1 or 2, comprising a logistics platform, an aircraft control system and a cargo hold control system in communication with said logistics platform, said aircraft control system comprising, in sequence:
the first receiving/transmitting signal module is used for receiving signals of the logistics platform, acquiring cargo compartment related information from the signals and transmitting related information of the aircraft;
the first position coordinate detection module is used for detecting the coordinate position of a point on the aircraft;
the flight attitude detection module is used for detecting the flight attitude of the aircraft in the air;
provided on an aircraft:
the first processor is used for receiving the information sent by the first receiving/sending signal module and processing the received information to generate an aircraft action instruction;
the first controller is used for receiving the instruction of the first processor and controlling the aircraft to finish the related instruction; controlling the aircraft to move, and controlling the aircraft to adjust the gesture, so that the first locking block on the aircraft and the second locking block on the cargo hold are roughly aligned;
the cargo hold control system comprises the following components:
the second position coordinate detection module is used for detecting the coordinate position of a point on the cargo hold;
the position state detection module is used for detecting the position state of the cargo hold;
the second signal receiving/transmitting module is used for transmitting cargo hold request carrying information, position coordinate information and position state information to the logistics platform and receiving information transmitted by the aircraft;
and is arranged on the cargo hold:
the second processor is used for processing the related information of the aircraft and generating a fixed locking device action instruction;
the second controller is used for receiving the action command generated by the second processing module and controlling the fixed locking device to finish the command action; the second controller is electrically connected with the electromagnet (3) and the pressure sensor on the first spring (5).
4. A method of controlling the automatic docking of an aircraft of a logistics transportation system in accordance with claim 1 or 2 to a cargo hold, comprising the steps of:
s1, sending cargo hold request carrying information to a logistics platform by a cargo hold to be loaded, wherein the logistics platform detects an aircraft carrying event at the moment, and the logistics platform determines an acquired cargo hold center coordinate point A as a first target point; then, the logistics platform acquires the coordinates of the central point A ' of the aircraft, analyzes the height of the central point A ' of the aircraft, judges whether the height value is larger than a certain preset threshold value, if not, controls the aircraft to move upwards according to the height value, acquires the height value of the central point A ' of a new aircraft after movement, and judges again; if the height value is larger than the preset threshold value, maintaining the height value to perform step S2;
s2, analyzing the coordinates of the central point A 'of the aircraft and the coordinates of the first target point, calculating the distance between the two points, judging whether the distance value is within a preset threshold range, if not, controlling the aircraft to move towards the first target point according to the distance value, acquiring the coordinates of the central point A' of the new aircraft after movement, and calculating the distance between the two points again to judge; if the preset threshold value is within the preset threshold value range, performing step S3;
s3, taking the acquired cargo hold state as a target state, acquiring the flight attitude of the aircraft, and judging whether the flight attitude of the aircraft is consistent with the target state; if the target states are inconsistent, controlling the aircraft to adjust the gesture, acquiring the flight gesture of the aircraft after adjustment, and comparing and judging with the target states; if the two types of the data are consistent, performing a step S4;
s4, executing alignment connection of the first locking block of the aircraft falling onto the aircraft and the second locking block of the cargo hold, acquiring a height value of the current aircraft, judging whether the height value is within a certain preset threshold range, and if not, returning to the step S3; if yes, judging that the alignment connection of the current aircraft and the cargo hold is completed, and controlling the aircraft to take off.
5. A method of controlling the automatic separation of an aircraft from a cargo hold of a logistics transportation system as defined in claim 1 or 2, comprising the steps of:
s1, after an aircraft carries a cargo hold, the cargo hold sends a cargo hold request separation information to a logistics platform, at the moment, the logistics platform detects an automatic separation event of the aircraft and the cargo hold, the cargo hold controls an electromagnetic lock structure on a second locking block to unlock, and a second controller calls a pressure sensor to detect a pressure value received by a first spring (5);
s2, judging whether the pressure value is larger than a certain preset threshold value, and if not, returning to the step S1; if yes, controlling the aircraft to rise upwards, adjusting the flight attitude, enabling the aircraft to move upwards stably, and acquiring the height value of the aircraft;
s3, judging whether the height value is larger than a certain preset threshold value, and if not, returning to the step S2; if yes, the first locking block and the second locking block are separated, the cargo hold controls the electromagnetic locking structure on the second locking block to restore to the initial state, and the aircraft enters the next carrying event.
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| CN109878725A (en) * | 2019-03-31 | 2019-06-14 | 拓攻（南京）机器人有限公司 | A kind of fixed-wing logistics unmanned plane |
| CN110416775B (en) * | 2019-06-03 | 2020-12-08 | 中国航天时代电子有限公司 | Electromechanical butt joint interface and on-orbit reconfigurable aircraft unit based on same |
| CN110485868A (en) * | 2019-08-08 | 2019-11-22 | 国网江苏省电力有限公司泰州供电分公司 | A kind of convertible hatch door |
| CN111439381B (en) * | 2020-03-10 | 2023-01-17 | 哈尔滨工业大学 | Unmanned aerial vehicle's automatic decomposition device |
| CN113325874A (en) * | 2021-06-11 | 2021-08-31 | 北京双栖科技有限公司 | Flight control method and flight control device for aircraft to adsorb or separate target object |
| CN114412282B (en) * | 2021-12-24 | 2022-10-14 | 哈尔滨工业大学 | Open type cargo compartment and cam linkage type compartment cover overturning and locking mechanism and overturning and locking method thereof |
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