CN109823762A - A kind of method of reseptance of cacheable roof para-cargo - Google Patents
A kind of method of reseptance of cacheable roof para-cargo Download PDFInfo
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- CN109823762A CN109823762A CN201910244964.3A CN201910244964A CN109823762A CN 109823762 A CN109823762 A CN 109823762A CN 201910244964 A CN201910244964 A CN 201910244964A CN 109823762 A CN109823762 A CN 109823762A
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Abstract
The method of reseptance of cacheable roof para-cargo, belong to unmanned plane shipping field, in order to solve the problems, such as to be detached from operator's control as far as possible, it can be achieved that unmanned plane cargo receives automatically, when fixed-wing unmanned plane will reach the first few minutes of reception device, the LED light of reception device quadrangle is lighted；The expansion plate in device tail portion picking area slides into coastdown area tail portion, and the elastomer net in picking area is opened；The unmanned plane is adjusted to the horizontal flight from the certain vertical range height of reception device by high-altitude flight, and effect is to meet the roof region that can place the device, can carry out the reception of low latitude para-cargo.
Description
Technical field
The invention belongs to unmanned plane shipping field, it is related to reception device and the side of a kind of cacheable roof para-cargo
Method.
Background technique
With the construction of China's town road infrastructure and the development of health security system and perfect, public medical is defended
Industry of making trouble the transportation demand of demand or other mechanisms in emergency supplies or file on first-aid medicine, blood or goods and materials increasingly
Increase, traditional emergency aid articles means of transportation based on the means of transportation such as highway, railway has been unable to meet transportation demand.Such as:
Institute of traditional Chinese medicine has first aid blood, government or other mechanisms to have urgent file to transport between same city or the different cities being closer
When demand, the means of transportation based on highway or railway transportation may be by the shadow of the factors such as real-time road, bad weather
It rings, causes article that cannot be sent in time.
Fixed-wing unmanned plane is long with distance to go, cruise area is big, flying speed is fast, flying height is high, loading capacity is big,
The advantages that autonomous flight control ability is strong.With fixed-wing unmanned plane fly control, battery, the communication technology it is improved day by day, using consolidate
The transport for determining wing unmanned plane progress emergency aid articles will obtain larger range of application in first aid transportation system.
Currently, Urbanization in China, still in the high speed development stage, urban population, building density and building are high
Degree is continuously increased, and such as having urgent article in population and building close quarters, (especially blood, urgent file etc. is to haulage time
More demanding article) transportation demand when, using fixed-wing unmanned plane carry out the transport of cargo occupy than other modes it is bigger
Advantage, therefore increasingly increased based on fixed-wing unmanned plane roof cargo dropping demand.
Currently, application fixed-wing unmanned plane carries out emergency supplies transport for the scientific research institution and company of Countries
Related experiment.But it does not refer to and carries out the transport of cargo in down town.Such as: what Johns Hopkins University developed
The unmanned plane of Latitude EngineeringHQ-40 carries mankind's blood sample and has leapt one, Arizona State desert, flies
Row distance amounts to 161 miles (259 kilometers).Researcher has collected 84 parts of samples in University of Arizona altogether in this process,
Then 76 miles (122 kilometers) have been opened to remote airport.It takes off and flies three hours, then land in airfield runway.This mistake
There is certain requirement to fixed-wing unmanned plane landing place in journey, and is only applicable to that the automatic dispensing of unmanned plane cannot be completed.
The fixed-wing unmanned plane that the Zipline company of U.S. Silicon Valley develops has been realized in first aid in Rwanda west area
The transport of article, the GPS built in the unmanned plane can help unmanned plane to fly to destination, can load about 3 pounds of drug.Nobody
The speed of machine flight is about that 60 miles (being equivalent to 97 kilometers per hour), the maximum distance of flight are 72 miles per hour
(being equivalent to 115 kilometers), operator is by the flight of systematic observation unmanned plane, and after arriving at the destination, unmanned plane can be
45 feet (about 14 meters) of height is in the air abandon drug by parachute.But gondola is high by cargo dispensing during parachuting
The factors such as degree, wind direction, wind speed and above ground structure influence, it is difficult to meet the requirement precisely launched, and the process is only used for people
Mouthful and the sparse area of building, it is difficult to meet the requirement launched in the intensive city of population and building.
Summary of the invention
In order to solve the problems, such as to be detached from operator's control as far as possible, it can be achieved that unmanned plane cargo receives automatically, the present invention
The following technical solutions are proposed: a kind of method of reseptance of cacheable roof para-cargo includes the following steps:
S1. when fixed-wing unmanned plane flies to demand region, fixed-wing unmanned plane determines the precise area for launching object；
S2. when fixed-wing unmanned plane will reach the first few minutes of reception device, the LED light point of reception device quadrangle
It is bright；The expansion plate in device tail portion picking area slides into coastdown area tail portion, and the elastomer net in picking area is opened；The unmanned plane by
High-altitude flight is adjusted to the horizontal flight from the certain vertical range height of reception device；
When S3. reaching receiving area, fixed-wing unmanned plane flies around reception device, in fixed-wing unmanned plane horizontal circle
Reception device in-flight, according to the LED light of quadrangle adjusts fuselage direction；
S4. fixed-wing unmanned plane delivers cargo；
S5. when the fixed-wing unmanned plane casts cargo, cargo is detached from fixed-wing unmanned plane and is entered by single piece type closed cover
Reception device, combined buffer device by para-cargo impact force compression and the cargo for movement provides damping, cargo by
It receives guide portion and enters buffer deceleration area by sliding device of receiving, cargo is by the way that in buffer deceleration area, flap contact is buffered
Spring stress compression provides retarding power for cargo deceleration, and cargo continues to slide to coastdown area, is connected to each other completely in cargo
When receiving apparatus is static, expansion plate retraction is slid into bottom plate, is slided device of receiving and is slided along seal protecting device inner groovy, by it
Cargo is pushed to reach picking area, cargo glide downwards are in the rubber net into picking area；
S6. after the reception for completing low latitude para-cargo, which is removed from device from elastomer net, taking out should
Then elastomer net is installed on picking area by cargo, after completing operation, expansion plate is slid back into picking area, is received.
Further, the determination method in region is launched are as follows:
Entire air-drop region ecto-entad is successively divided into control area three after air-drop prime area, control area and delay
A region；
Determine maximum control area radius R after being delayedmax；
Utilize RmaxIt obtains dropping maximum control area radius rmax；
Utilize rmaxIt obtains dropping maximum prime area radius ROmax。
Further, in fixed-wing unmanned plane digital camera detection LED light two white light source pixels and two
Red light source pixel, unmanned plane determine the receiving direction of reception device according to light source pixel position；Also, based on fixed-wing without
Man-machine visual angle, by the white light source pixel between the digital camera in the unmanned plane LED light A detected and LED light B away from
From by image recognition algorithm, finding out the midrange between two white light source pixels, adjust the position of fuselage in time, make solid
Determine midrange flight of the wing unmanned plane along two white light source pixels.
Further, shaft is adjusted to adjust the angle for receiving guide portion and device placement platform, makes the cargo falling speed
Direction and the reception guide portion direction of reception device are tangent.
Further, in the step S5, all slow down if cargo does not complete in reception device, end speed is larger
When, which hits the protection board in picking area, and protection board provides deceleration for flexible material for cargo, and falls cargo finally
Enter in elastomer net.
The utility model has the advantages that
The device can be used for receiving volume no more than 0.2m3, long * wide * high it is little no more than 0.6m*0.6m*0.6m, quality
In the para-cargo of 3kg.The device is based on roof, infrastructure construction region is not take up, as long as there is satisfaction that can place the device
Roof region, the reception of low latitude para-cargo can be carried out.The device uses modular design mode, and reception device part is adopted
It is combined the unit with buffer spring etc., Design of Mechanical Structure is simple.The device is when receiving low latitude para-cargo, except needing operator
Member carry out picking outside, other operation completely disengage operator's control, it can be achieved that cargo automatic reception.The device is mainly by low
When empty para-cargo moves in the device, force of sliding friction caused by surface of package device inner surface provides deceleration, reduces
The cargo caused by shock because damaging.The device quadrangle is formed equipped with LED light, wind direction tachymeter is housed, in goods at the top of device
When object will be launched, the LED at four angles is lighted in device, and fixed-wing unmanned plane passes through inspection by the fixation and recognition to LED lamp
The wind direction and wind speed that micrometer type wind direction tachymeter obtains in real time, it is ensured that the optimum position that cargo is launched makes cargo accurately fall in this
In device.For the device when receiving para-cargo, fixed-wing unmanned plane is being about that goods is launched at 1m away from reception device vertical range
Object, cargo disengaging fixed-wing unmanned plane fall into reception device process and take around 0.4s~0.5s or so, in the process, Gu
Determine wing unmanned plane and para-cargo streaks reception device overhead, which is influenced to be about 20% by high-speed flow；By
It is influenced in the irresistible factor such as air, wind direction, the probability that para-cargo accurately falls into reception device is about 80%；Drop goods
Object by the deceleration buffer of the reception device act on reduction damage ratio direct para-cargo when reduce about 85%.The device exists
It is small by weather range effects when use, it is stable.Device receives cargo process and does not generate harmful substance, good environmental adaptability.
Detailed description of the invention
Fig. 1 is schematic device；
Fig. 2 is to slide schematic device of receiving；
Fig. 3 is picking area schematic diagram；
Fig. 4 is flap schematic diagram.
Specific embodiment
A kind of reception device based on fixed-wing unmanned plane roof para-cargo is by receiving guide portion 1, buffer deceleration area 2,
Coastdown area 3, picking area 4, side wall protective device 5, seal protecting device 6, flap 7, single piece type closed cover 8 slide receipts
Goods device 9, LED indication device 10, wind direction tachymeter 11, combined buffer device 12, device support column, combined buffer device
The part such as placement plate 13 forms.
It receives guide portion 1 to be made of casting iron-carbon alloy material, there is good casting property, shrink small, anti-attrition and wear-resisting
Property it is high, the advantages that weakening and good low notch sensitivity.Receiving guide portion 1 is that trapezoidal (0.8m*1.2m*8m) is placed in reception dress
Base portion is set, front end is groove design, when low latitude receives para-cargo, is used for fixing seal protective device 8, keeps the cargo steady
Into in buffer deceleration area 2；Its receive guide portion 1 horizontal by 10 ° (angle can according to the cargo be detached from fixed-wing nobody
Machine directional velocity is adjusted), combined buffer device and device placement platform (also Cheng Pingtai) with can modes of emplacement connect, it is low in reception
It, can cargo level-one damping to high-speed motion when empty para-cargo；The area is with deceleration buffer area 2 with adjustment axis horizontal circular arc phase
Even, it receives 1 surface of guide portion and is divided into smooth areas and Non-smooth surface area, Non-smooth surface area surface is covered with a floor coefficient of sliding friction and is
The plated film of 0.4 (relative to low latitude para-cargo surface of package).When receiving low latitude para-cargo cargo, receives guide portion 1 and use
In the reception cargo, and the lateral velocity of cargo is buffered, makes the cargo to be parallel to 2 speed of buffer deceleration area and accurately enter the area
In domain.
Buffer deceleration area 2 is rectangle (0.8m*12m) structure using nichrome as main material, high-intensitive with having, resistance to
The advantages that corrosion, the region front end are connected with reception guide portion 1 with adjustment axis horizontal circular arc, and tail end and sliding deceleration area 3 are horizontal
Connect.Buffer deceleration area surface is covered with the plated film that a floor coefficient of sliding friction (relative to low latitude para-cargo surface of package) is 1,
When receiving low latitude para-cargo cargo, which is entered in the region by receiving guide portion 1, surface coating and cargo movement
The force of sliding friction of generation can provide primary speed-down power for the high lateral velocity of the cargo.
The material identical as 2 use of buffer deceleration area of coastdown area 3, the region are rectangle (0.8m*10m) structure, table
Face is covered with the plated film that one layer of phase coefficient of sliding friction (relative to urgent goods packing surface) is 1.5, front end and buffer deceleration
2 level of area connects, and tail end connects with 4 picking areas.When receiving low latitude para-cargo cargo, cargo is entered by buffer deceleration area 2
In the region, the force of sliding friction that surface coating is generated with cargo movement can provide second level for the high lateral velocity of the cargo and subtract
Quick-action power.
Picking area 4 is mainly made of elastomer net, expansion plate and protection board, and wherein the rubber net is by polyurethane rubber
Composition, is a kind of material being polymerized by polyester and two isocyanide amine lipoid substances, has impact resistance height, tear-proof energy
The advantages that power is strong, absorbing shock performance is high is mainly used for temporary low latitude para-cargo, and elastomer net can be removed from device,
So that operator collects cargo；Expansion plate is Titanium-magnesium alloy material, have specific strength is high, density is small, it is corrosion-resistant, can return
Many advantages, such as receipts.Protection board is located at whole device tail portion, when receiving low latitude para-cargo, as the cargo picking area have compared with
When high speed, protection board is flexible material, is mainly used for buffering the cargo speed, the cargo is made steadily to enter elastomer net
It is interior.4 domain of picking area is located at entire reception device tail end, predominantly connects with 3 tail portion level of coastdown area, empty receiving low latitude
When throwing cargo, expansion plate is placed in 3 tail portion of coastdown area, elastomer net is taken out, to receive the cargo.
Side wall protective device 5 divides to receive guide portion part, buffer deceleration area part, coastdown area part and picking
Area part, inner wall smooth, semicircular in shape (d=0.8m) tubular structure.Wherein receive 1 side wall protective device of guide portion and buffering
2 side wall protective device of deceleration area is connected with adjustment axis in horizontal circle arc.When receiving low latitude para-cargo cargo, guiding is received
1 side wall protective device of area provides speed guiding role for the cargo, and reduces the shock in cargo taxiing procedures to the wound of cargo
Evil, makes the cargo accurately enter buffer deceleration area 2；2 side wall protective device inner wall of buffer deceleration area has 6 0.5m*0.2m*0.2m
Groove it is symmetrical, for placing flap 7.
Seal protecting device 6 divides to receive guide portion part, buffer deceleration area part, coastdown area part and picking
Area part, except receiving guide sections exceptionally, the lower surface of the seal protecting device top plate of rest part is opening and groove structure,
It is overall in rectangular configuration.For buffer deceleration area side wall protective device, coastdown area side wall protective device, picking area side wall
Protective device be connection and it is closed, if having so that inside and outside connection opening, can be used sealing strip sealing, wherein receiving
Guide portion seal protecting device is with buffer deceleration area seal protecting device by adjust, shaft is smoothly closed to connect.Seal protection dress
6 are set with side wall protective device 5 and buffer deceleration area 2, coastdown area 3, picking area 4 in rectangular tubular space structure, is used for
Each deceleration area is protected, the destruction of the area the adverse circumstances Xia Duigai surface coatings such as rain, snow, dust storm is reduced.
Flap 7 is connected by shaft with 2 side wall protective device inboard wall groove of buffer deceleration area, and is consolidated by buffer spring
Due to area's side wall protective device groove inner wall, it is placed in buffer deceleration area 2 in nature.Wherein buffer spring is by alloy
Spring steel material composition, tensile strength with higher, larger elastic limit, higher fatigue strength, to guarantee that spring has foot
Enough high elastic deformabilities simultaneously can bear biggish load.When receiving low latitude para-cargo cargo, buffer spring is in nature
Tensional state, when cargo passes through flap, buffer spring forced compression can slow down for cargo and provide retarding power.
Single piece type closed cover 8 is to receive protective device at the receiving port of guide portion, and surface is designed for groove type, with receiving port
It is closed by rubber strip to locate periphery, and is fixed on by adjusting shaft and the higher buffer spring of susceptibility and receives guide portion receiving port
Place.When receiving low latitude bear cargo, which is detached from fixed-wing unmanned plane, is entered by single piece type closed cover 8 and receives guide portion 1
Interior, single piece type closed cover 8, which is hit, forces contracting buffer spring, can be fixed on by groove receive guide portion 1, to cargo completely into
Enter to receive in guide portion 1, single piece type closed cover is sprung back naturally.When not in use, single piece type closed cover 8, which can be protected, receives guide portion,
Reduce the destruction in the areas adverse circumstances Xia Duigai such as rain, snow, dust storm.
It slides device 9 (0.6m*0.6m) of receiving and is placed in reception guide portion 1 and 2 junction of buffer deceleration area, upper end is by two
Pulley and unidirectional 90 ° of shafts are loaded in the groove of seal protecting device.Turn due to sliding only 90 ° of the unidirectional shaft of device of receiving
It is dynamic, it is ensured that cargo can be entered in buffer-oriented area by receiving guide portion, when receiving low latitude para-cargo, if the cargo stops
In buffer deceleration area 2 or coastdown area 3, slides device of receiving and slided along seal protecting device inner groovy, reach cargo
Picking area 4, so as to operator's picking；After the completion of operator's picking, slides device of receiving and be driven by a motor, be back to
Beginning position.
LED indication device 10 is placed in rectangle and receives guide portion receiving port four corners, is powered by 3v button cell, is
Ensure that fixed-wing unmanned plane can accurately identify setting position, adjusts fuselage positions and heading in time, wherein LED light A and LED
Lamp B is that white lamps are located at the upper left quarter and upper right quarter for receiving guide portion receiving port four corners, and LED light C and LED light D is red
Colored lights is located at the right lower quadrant and lower left quarter for receiving guide portion receiving port four corners.When being used to receive low latitude para-cargo,
LED light is lighted.
Wind direction tachymeter 11, which is installed on, receives 1 top, mid-portion of guide portion, is adapted to 1.5v button cell, can effectively obtain
Wind direction information, the tachymeter shell use high-quality aluminium alloy extrusions, outside carry out plating plastic-spraying processing, have good anti-corrosion,
The features such as LP blades, can guarantee that the rustless axis chiseled phenomenon, while cooperating inside smooth is used for a long time in tachymeter internal transmitter
Hold system, it is ensured that the accuracy of information collection.When receiving para-cargo, it is real-time that miniature wind direction tachymeter is mainly used to detection
Wind direction and wind speed, after fixed-wing unmanned plane receives the data of acquisition, cooperated with LED instruction device 10 adjusts simultaneously straightener in time
Body position ensures that para-cargo can accurately be fallen into the reception device.
Combined buffer device 12 is equipped with two pairs and is respectively placed at reception 1 bottom surface front end of guide portion and tail end, wherein front end
The combined buffer device at place is made of spring steel and telescopic tube, and the combined buffer device at tail end is only by spring steel group
At when receiving para-cargo, combined buffer device can receive guiding according to the big minor adjustment of quality and volume of para-cargo
Area 1 and device placement platform angle, guarantee that the cargo can steadily enter buffer deceleration area.
Device support column 13 is the column structure of 1m high, is mainly used for supporting reception device, device support column one shares four
It is right, be placed in respectively each 14 front end of area's combined buffer device placement plate, 2 front end of buffer deceleration area, 3 front end of coastdown area and
At 3 tail end of coastdown area.
Combined buffer device placement plate 14 is (0.8m*1.2m*8m) trapezium structure, is smoothly connected with buffer deceleration area,
It is mainly used for putting combined buffer device 12.
Use process:
In population and building dense city such as by emergency supplies transportation demand when, such as: medical field needs quick
Transport first-aid medicine, government or other mechanisms, department have urgent file to transport or the demand of other articles, at this point, fixed-wing nobody
After the confirmation of machine dispensing end has the demand of Material Transportation, dispensing station plans flight path according to cargo specific location is received immediately, flies
To demand region.
1. the fixed-wing unmanned plane can determine whether to launch the precise area of object when flying to demand region, region is launched
Determine method are as follows: firstly, controlling after entire air-drop region ecto-entad is successively divided into air-drop prime area, control area and delay
Three regions in region processed；Secondly, maximum control area radius R after being delayed is determinedmax；Then R is utilizedmaxIt obtains dropping maximum control
Zone radius rmax；Finally utilize rmaxIt obtains dropping maximum prime area radius ROmax.To improve dispensing precision, reach accurate
The purpose of dispensing.
2. the LED light of reception device quadrangle is lighted when fixed-wing unmanned plane will reach first 3 minutes of reception device；
The expansion plate in device tail portion picking area slides into coastdown area tail portion, and the elastomer net in picking area is opened naturally.The unmanned plane
Height from reception device vertical range for 100cm (being adjusted in real time with a distance from this according to reception device height) is adjusted to by high-altitude flight
Spend horizontal flight.
3. reach receiving area, which flies around the reception device, since the direction of reception device is indefinite,
In-flight, the digital camera in fixed-wing unmanned plane can detect the two of LED light to fixed-wing unmanned plane horizontal circle reception device
A white light source pixel (LED light A and LED light B) and two red light source pixels (LED light C and LED light D), at this point, this nobody
Machine can determine the receiving direction of reception device according to light source pixel position；Also, it is based on fixed-wing unmanned plane visual angle, by this
White light source pixel distance between digital camera in unmanned plane the LED light A detected and LED light B, passes through image recognition
Algorithm finds out the midrange between two white light source pixels, and real-time wind direction, the wind measured according to miniature wind direction tachymeter
Speed and other irresistible factors adjust in time and correct direction, adjust the position of fuselage in time, make fixed-wing unmanned plane edge
The midrange flight of two white light source pixels.
4. the unmanned plane can by identification device LED light determining device position, receiving direction, adjust in time flying height,
Speed；And determine that the size of real-time wind direction and wind speed and para-cargo move rail according to the miniature wind direction tachymeter at the top of device
Mark obtains and launches angle and accurate direction.It is comprehensive to find best delivery cargo location, accurately cast cargo.
5. the cargo is detached from fixed-wing unmanned plane and is entered by single piece type closed cover when the fixed-wing unmanned plane casts cargo
The reception device, connection receive impact force of the combined buffer device of guide portion and device placement platform by low latitude para-cargo
Compression provides damping for the cargo of high-speed motion, and adjusts the angle for receiving guide portion and device placement platform by adjustment axis, makes this
Cargo falling speed direction and the reception guide portion direction of the reception device are tangent, with cargo horizontal velocity 72km/h, cargo matter
For amount is 2kg, force of sliding friction is generated between guide portion surface and low latitude para-cargo due to receiving, is computed, the power is big
In component of the cargo gravity in movement velocity direction, when the cargo reaches buffer deceleration area, speed 68.4km/h, and by connecing
It receives guide portion and enters buffer deceleration area by sliding device of receiving, since the cargo of high-speed motion and buffer deceleration area surface generate
Force of sliding friction, which provides for cargo deceleration and retarding power, and cargo passes through slow when the flap in the region
Spring stress compression is rushed, can slow down for cargo and retarding power is provided, three pairs of flaps is continued through in cargo and reaches coastdown
When area and buffer deceleration area junction, cargo movement speed is about 36km/h；Then the cargo continues to slide to coastdown area,
Due to the coefficient of friction between coastdown area body surface and area's surface coating be 1.5, coastdown area surface with should
Force of sliding friction caused by cargo surfaces continues as the cargo and provides retarding power, at away from buffer deceleration area tail end 5m, goods
Object movement velocity can be reduced to 0.When the completely opposite reception device of the cargo is static, device of receiving is slided at this time and is protected along sealing
Protection unit inner groovy slides, and so that cargo is reached picking area, is then return to initial position.Because of cargo size, volume there are difference,
Such as the cargo does not complete all slow down in the device, and when end speed is smaller, which can slide high-elastic into picking area naturally
In rubber net；Such as cargo is completed all to slow down in the device, and when end speed is larger, which can hit the protection in picking area
Plate, protection board are flexible material, deceleration can be provided for cargo, and eventually fall into the cargo in elastomer net.
6. removing the cargo from device from elastomer net after the reception for completing low latitude para-cargo, taking out should
Then elastomer net is installed on picking area by cargo, after completing operation, expansion plate is slid back into picking area, is received.
A kind of reception device based on fixed-wing unmanned plane roof para-cargo, reception guide portion, buffering including connection
Deceleration area, coastdown area and the picking area positioned at coastdown area end receive guide portion, buffer deceleration area, coastdown
Area is mounted on platform, and the platform is supported by device support column.
Further, receiving guide portion is the platform that trapezoidal tubular structure is placed in reception device base portion, front opening
It is lifted greater than open rearward end, and by combined buffer device, and makes it that there is certain angle between the platform, it is described
Combined buffer device includes two pairs of buffer units, the front end for receiving guide portion outer bottom and tail end is respectively placed in, at front end
Buffer unit is made of spring steel and telescopic tube, and the telescopic tube is mounted on platform, and its top is connect with spring steel,
Spring steel is connect with the outer bottom for receiving guide portion front end, and the buffer unit at tail end is made of spring steel, and spring steel is mounted on
Platform, and its top is connect with the outer bottom for receiving guide portion tail end.
Further, the top plate in the buffer deceleration area, coastdown area is with certain thickness, in the lower surface of top plate
It is provided with opening, and digs out the slot not through top plate upwards along the both sides of opening by the opening, the width of slot is greater than the width of opening
It spends, so that slot laterally has along opening and to the bottom surface of opening both sides extension, slides device of receiving and connect with slot, slide receipts
Goods device includes two opposite pulleys, and pulley room installs shaft, and shaft is integrally formed with the rotatable grid of servo-actuated shaft, and two
A pulley and shaft are located in slot, and pulley can slide in slot in the bottom surface, and the part that shaft is connect with grid adapts to open
Mouth-shaped and size, and it is located at aperture position, and the width of grid is greater than opening width, described sliding receives device by described
Motor driven in the bottom surface from buffer deceleration area to coastdown area can be slided.
Further, the open rearward end of reception guide portion and the front opening in buffer deceleration area are connected with shaft
It connects.
Further, receiving guide portion part, buffer deceleration area part, coastdown area part and picking area has side wall
Protective device, the inner wall smooth of side wall protective device, semicircular in shape tubular structure, the side wall protective device inner wall in buffer deceleration area
There is the groove of several installation flaps symmetrical.
Further, flap is connected by shaft with the inboard wall groove in buffer deceleration area, and is fixed by buffer spring
In groove inner wall, it is placed in buffer deceleration area in nature.
Further, single piece type closed cover is to receive protective device at the receiving port of guide portion, and surface is groove type, and is connect
Periphery is closed by rubber strip at closing in, and is connect by the fixed openable and closable reception guide portion that is connected to of adjusting shaft and buffer spring
It closes up.
Further, the bottom plate in coastdown area has unified and certain thickness, and the bottom plate for deceleration area of being expert at
End is nearby picking area, and the picking area is mainly made of rubber net, expansion plate and protection board, the scalable company of expansion plate
It connects in the bottom plate, and expansion plate stretches out the bottom plate to block the opening of platform, expansion plate retracts so that platform
Opening is exposed, and the lower sections of platform openings connects rubber net, and the end in coastdown area is to surround structure, the encirclement structure be for
Protection board made of flexible material.
Further, the bottom plate in coastdown area has unified and certain thickness, and the bottom plate for deceleration area of being expert at
End is nearby picking area, and the picking area is mainly made of rubber net, expansion plate and protection board, the scalable company of expansion plate
It connects in the bottom plate, and expansion plate stretches out the bottom plate to block the opening of platform, expansion plate retracts so that platform
Opening is exposed, and the lower sections of platform openings connects rubber net, and the end in coastdown area is to surround structure, the encirclement structure be for
Protection board made of flexible material.
Further, LED indication device in rectangle be placed in receive guide portion receiving port four corners, wherein LED light A with
LED light B is white lamps, is located at the upper left quarter and upper right quarter for receiving guide portion receiving port four corners, LED light C and LED light D
The right lower quadrant and lower left quarter for receiving guide portion receiving port four corners are located at for red colored lamp.
The preferable specific embodiment of the above, only the invention, but the protection scope of the invention is not
It is confined to this, anyone skilled in the art is in the technical scope that the invention discloses, according to the present invention
The technical solution of creation and its inventive concept are subject to equivalent substitution or change, should all cover the invention protection scope it
It is interior.
Claims (5)
1. a kind of method of reseptance of cacheable roof para-cargo, which comprises the steps of:
S1. when fixed-wing unmanned plane flies to demand region, fixed-wing unmanned plane determines the precise area for launching object；
S2. when fixed-wing unmanned plane will reach the first few minutes of reception device, the LED light of reception device quadrangle is lighted；Dress
The expansion plate for setting tail portion picking area slides into coastdown area tail portion, and the elastomer net in picking area is opened；The unmanned plane is by high-altitude
Flight is adjusted to the horizontal flight from the certain vertical range height of reception device；
When S3. reaching receiving area, fixed-wing unmanned plane flies around reception device, receives in fixed-wing unmanned plane horizontal circle
Device in-flight, according to the LED light of quadrangle adjusts fuselage direction；
S4. fixed-wing unmanned plane delivers cargo；
S5. when the fixed-wing unmanned plane casts cargo, cargo is detached from fixed-wing unmanned plane and enters reception by single piece type closed cover
Device, combined buffer device is compressed by the impact force of para-cargo and the cargo for movement provides damping, and cargo is by receiving
Guide portion enters buffer deceleration area by sliding device of receiving, and cargo is by the way that in buffer deceleration area, flap is contacted, buffer spring
Forced compression provides retarding power for cargo deceleration, and cargo continues to slide to coastdown area, fills in cargo opposite receive completely
When setting static, expansion plate retraction is slid into bottom plate, is slided device of receiving and is slided along seal protecting device inner groovy, by its promotion
Cargo reaches picking area, and cargo glide downwards are in the rubber net into picking area；
S6. after the reception for completing low latitude para-cargo, which is removed from device from elastomer net, takes out the goods
Then elastomer net is installed on picking area by object, after completing operation, expansion plate is slid back into picking area, is received.
2. the method for reseptance of cacheable roof para-cargo as described in claim 1, which is characterized in that launch region really
Determine method are as follows:
Entire air-drop region ecto-entad is successively divided into the area of control area three after air-drop prime area, control area and delay
Domain；
Determine maximum control area radius R after being delayedmax；
Utilize RmaxIt obtains dropping maximum control area radius rmax；
Utilize rmaxIt obtains dropping maximum prime area radius ROmax。
3. the method for reseptance of cacheable roof para-cargo as described in claim 1, which is characterized in that fixed-wing unmanned plane
In digital camera detection LED light two white light source pixels and two red light source pixels, unmanned plane is according to light source picture
Plain position determines the receiving direction of reception device；Also, it is based on fixed-wing unmanned plane visual angle, passes through the number in the unmanned plane
White light source pixel distance between camera detection the LED light A arrived and LED light B finds out two by image recognition algorithm
Midrange between white light source pixel adjusts the position of fuselage in time, makes fixed-wing unmanned plane along two white light source pixels
Midrange flight.
4. the method for reseptance of cacheable roof para-cargo as described in claim 1, which is characterized in that adjust shaft to adjust
Section receives the angle of guide portion and device placement platform, makes the reception guide portion direction of the cargo falling speed direction and reception device
It is tangent.
5. the method for reseptance of cacheable roof para-cargo as described in claim 1, which is characterized in that the step S5
In, all slow down if cargo does not complete in reception device, when end speed is larger, which hits the protection in picking area
Plate, protection board provide deceleration for flexible material for cargo, and eventually fall into cargo in elastomer net.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910244964.3A CN109823762B (en) | 2019-03-28 | 2019-03-28 | Receiving method of buffered roof airdrop goods |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910244964.3A CN109823762B (en) | 2019-03-28 | 2019-03-28 | Receiving method of buffered roof airdrop goods |
Publications (2)
| Publication Number | Publication Date |
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| CN109823762A true CN109823762A (en) | 2019-05-31 |
| CN109823762B CN109823762B (en) | 2020-07-28 |
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| CN201910244964.3A Expired - Fee Related CN109823762B (en) | 2019-03-28 | 2019-03-28 | Receiving method of buffered roof airdrop goods |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103448911A (en) * | 2013-09-16 | 2013-12-18 | 金陵科技学院 | Extreme low-altitude drop device |
| CN106143917A (en) * | 2015-04-21 | 2016-11-23 | 张旗 | Unmanned plane air-drop thing receives equipment |
| CN107140443A (en) * | 2017-05-06 | 2017-09-08 | 佛山市神风航空科技有限公司 | A kind of high-rise building logistics transportation system based on unmanned plane |
| CN207148654U (en) * | 2017-09-04 | 2018-03-27 | 陶文英 | A kind of fixed wing aircraft cargo dropping and reception system |
| KR20190018247A (en) * | 2017-08-14 | 2019-02-22 | 노형준 | Drone delivery mailbox |
-
2019
- 2019-03-28 CN CN201910244964.3A patent/CN109823762B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103448911A (en) * | 2013-09-16 | 2013-12-18 | 金陵科技学院 | Extreme low-altitude drop device |
| CN106143917A (en) * | 2015-04-21 | 2016-11-23 | 张旗 | Unmanned plane air-drop thing receives equipment |
| CN107140443A (en) * | 2017-05-06 | 2017-09-08 | 佛山市神风航空科技有限公司 | A kind of high-rise building logistics transportation system based on unmanned plane |
| KR20190018247A (en) * | 2017-08-14 | 2019-02-22 | 노형준 | Drone delivery mailbox |
| CN207148654U (en) * | 2017-09-04 | 2018-03-27 | 陶文英 | A kind of fixed wing aircraft cargo dropping and reception system |
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| CN109823762B (en) | 2020-07-28 |
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