CN109823762B - Receiving method of buffered roof airdrop goods - Google Patents
Receiving method of buffered roof airdrop goods Download PDFInfo
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- CN109823762B CN109823762B CN201910244964.3A CN201910244964A CN109823762B CN 109823762 B CN109823762 B CN 109823762B CN 201910244964 A CN201910244964 A CN 201910244964A CN 109823762 B CN109823762 B CN 109823762B
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Abstract
A method for receiving buffered roof airdrop goods belongs to the field of unmanned aerial vehicle freight, and aims to solve the problem that automatic receiving of goods of an unmanned aerial vehicle can be realized by separating from control of an operator as far as possible.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle freight, and relates to a receiving device and a receiving method for buffered roof airdrop goods.
Background
With the construction of urban road infrastructure and the development and improvement of medical support systems in China, the demands of public medical health service on emergency drugs, blood or materials or the transportation demands of other organizations on emergency materials or documents are increasing day by day, and the traditional first-aid article transportation modes mainly including the transportation modes of roads, railways and the like cannot meet the transportation demands. For example: when there is first-aid blood in hospitals and the government or other organizations have urgent document transportation requirements in the same city or between different cities which are close to each other, the transportation mode mainly based on road or railway transportation may be affected by many factors such as real-time road conditions and bad weather, so that the goods cannot be delivered in time.
The fixed wing unmanned aerial vehicle has the advantages of long navigation distance, large cruising area, high flying speed, high flying height, large load capacity, strong autonomous flight control capability and the like. With the increasing perfection of flight control, batteries and communication technology of the fixed-wing unmanned aerial vehicle, the fixed-wing unmanned aerial vehicle is bound to be applied to a larger range in an emergency transportation system for transporting emergency articles.
At present, the urbanization process of China is still in a high-speed development stage, urban population, building density and building height are continuously increased, and if the transportation demand of emergency articles (particularly, articles with high transportation time requirements such as blood, emergency documents and the like) exists in population and building dense areas, the fixed-wing unmanned aerial vehicle is utilized to transport goods and has a greater advantage than other modes, so the roof goods airdrop demand based on the fixed-wing unmanned aerial vehicle is increasingly increased.
For example, L attentive engineering HQ-40, developed by John Hopkins university, carries human blood samples across a desert in Arizona, with a total flight distance of 161 miles (259 kilometers). during this process, a researcher collects 84 samples at the university of Arizona, then drives a remote airport 76 miles (122 kilometers), takes off and flies for three hours, and then lands on the runway of the airport.
Fixed wing drones developed by Zipline corporation of sigu, usa have achieved the transport of first aid items in the western region of lugwanda, and the GPS built in the drone will help the drone fly to the destination, which can be loaded with approximately 3 pounds of medication. The speed of flight of the drone is about 60 miles per hour (equivalent to 97 kilometers per hour), the maximum distance of one flight is 72 miles (equivalent to 115 kilometers), the flight of the drone is observed by the crew through the system, and after reaching the destination, the drone has the opportunity to throw the medicine down through a parachute in the altitude of 45 feet (about 14 meters). However, the pod is influenced by the cargo throwing height, the wind direction, the wind speed, the ground buildings and other factors in the parachute landing process, so that the requirement for accurate throwing is difficult to meet.
Disclosure of Invention
In order to solve the problem that the unmanned aerial vehicle cargo can be automatically received without being controlled by an operator as much as possible, the invention provides the following technical scheme: a receiving method of buffered roof airdrop goods comprises the following steps:
s1, when a fixed-wing unmanned aerial vehicle flies to a demand area, the fixed-wing unmanned aerial vehicle determines an accurate area for throwing an object;
s2, when the fixed-wing unmanned aerial vehicle is about to reach the receiving device for the first few minutes, L ED lamps at four corners of the receiving device are lightened, a telescopic plate of a goods taking area at the tail of the device slides into the tail of a sliding deceleration area, and a high-elastic rubber net of the goods taking area is opened;
s3, when the unmanned aerial vehicle arrives at a receiving area, the fixed-wing unmanned aerial vehicle flies around the receiving device, and the direction of the unmanned aerial vehicle body is adjusted according to L ED lamps at four corners during the horizontal flying around of the fixed-wing unmanned aerial vehicle;
s4, delivering goods by the fixed-wing unmanned aerial vehicle;
s5, when the fixed-wing unmanned aerial vehicle drops goods, the goods are separated from the fixed-wing unmanned aerial vehicle and enter a receiving device through a one-piece type sealing cover, a combined type buffer device is compressed by the impact force of air-dropped goods to provide shock absorption for the moving goods, the goods enter a buffering and decelerating region through a sliding goods receiving device from a receiving guide region, the goods pass through the buffering and decelerating region and are contacted with a decelerating plate, a buffer spring is stressed and compressed to provide decelerating power for decelerating the goods, the goods continue to slide to the sliding and decelerating region, when the goods are completely static relative to the receiving device, an expansion plate retracts and slides to a bottom plate, the sliding goods receiving device slides along an inner groove of a sealing protection device, the goods are pushed to reach a goods taking region by the sliding goods receiving device, and the goods slide downwards to a rubber;
s6, after receiving the low-altitude dropped goods, taking the goods out of the high-elasticity rubber net device, taking the goods out, then placing the high-elasticity rubber net device in a goods taking area, after the operation is completed, sliding the expansion plate back to the goods taking area, and finishing the receiving.
Further, the method for determining the delivery area comprises the following steps:
dividing the whole air-drop area into an air-drop initial area, a control area and a delayed control area from outside to inside in sequence;
determining the maximum control region radius R after delaymax；
By means of RmaxObtaining the radius r of the maximum control area of air dropmax；
By using rmaxObtaining the maximum initial area radius R of air dropOmax。
Furthermore, based on the visual angle of the fixed-wing unmanned aerial vehicle, the digital camera in the unmanned aerial vehicle detects the white light source pixel distance between L ED lamp A and L ED lamp B, the midpoint value between the two white light source pixels is found out through an image recognition algorithm, the position of the unmanned aerial vehicle body is adjusted in time, and the fixed-wing unmanned aerial vehicle flies along the midpoint value of the two white light source pixels.
Furthermore, the rotating shaft is adjusted to adjust the angle between the receiving guide area and the device placing table, so that the falling speed direction of the goods is tangent to the receiving guide area direction of the receiving device.
Further, in step S5, if the cargo is not completely decelerated in the receiving device, and the final speed is higher, the cargo impacts the protection plate in the cargo taking area, and the protection plate provides deceleration for the cargo by the flexible material, so that the cargo finally falls into the high-elasticity rubber net.
Has the advantages that:
the device can be used for receiving the volume of not more than 0.2m3The device adopts a combined design mode, a receiving device part adopts a combined device such as a buffer spring and the like, the mechanical structure design is simple, when the device receives low-altitude air-drop cargos, except for needing an operator to take the cargos, other operations are completely separated from the control of the operator, the automatic receiving of the cargos can be realized, the device mainly comprises a sliding friction force generated on the inner surface of a packaging surface device of the low-altitude air-drop cargos when the low-altitude air-drop cargos move in the device to provide deceleration, the damage of the cargos caused by impact is reduced, the device consists of L ED lamps at four corners, a anemoscope is arranged at the top of the device, when the cargos are about to be thrown, L ED at four corners of the device is lightened, a fixed wing identifies the wind direction of an LED lamp through positioning of the LED lamp, and obtains the optimal speed measuring instrument through the detection of the wind direction of the anemoscope, and the micro-sized cargos are accurately received in the device when the cargos are thrown in the device, so that the unmanned aerial vehicle can accurately receive the cargos and the cargos falling off the low-altitude air-drop cargos in the deviceThe wing unmanned aerial vehicle puts in goods at a vertical distance of 1m from the receiving device, the process that the goods fall into the receiving device from the fixed wing unmanned aerial vehicle needs about 0.4 s-0.5 s, in the process, the fixed wing unmanned aerial vehicle and the air-dropped goods move over the receiving device, and the receiving device is influenced by high-speed airflow by about 20%; due to the influence of irresistible factors such as air, wind direction and the like, the probability that the airdropped goods accurately fall into the receiving device is about 80%; the damage to the airdropped cargo due to the deceleration cushioning effect of the receiving device is reduced by about 85% compared to when the cargo is directly airdropped. The device is little influenced by the weather scope when using, and the operation is stable. The device does not generate harmful substances in the process of receiving the goods, and has good environmental adaptability.
Drawings
FIG. 1 is a schematic view of the apparatus;
FIG. 2 is a schematic view of the skid steer cargo unit;
FIG. 3 is a schematic view of a pickup area;
fig. 4 is a schematic view of the speed reduction plate.
Detailed Description
The utility model provides a receiving arrangement based on fixed wing unmanned aerial vehicle roof airdrop goods is by receiving guide area 1, buffering deceleration zone 2, slides deceleration zone 3, gets goods district 4, lateral wall protection device 5, sealed protection device 6, the air brake 7, a slice airtight lid 8 slides and receives goods device 9, L ED indicating device 10, wind direction tachymeter 11, combination formula buffer 12, the device support column, combination formula buffer puts parts such as board 13 and constitutes.
The receiving guide area 1 is made of cast iron-carbon alloy materials and has the advantages of good casting performance, small shrinkage, high wear resistance and wear resistance, good vibration absorption, low notch sensitivity and the like. The receiving guide area 1 is trapezoidal (0.8m x 1.2m x 8m) and is arranged at the base of the receiving device, the front end of the receiving guide area is designed as a groove, and the receiving guide area is used for fixing the sealing protection device 8 when receiving airdropped goods at low altitude so that the goods can stably enter the buffering deceleration area 2; the receiving guide area 1 of the unmanned aerial vehicle is 10 degrees with the horizontal plane (the angle can be adjusted according to the speed direction of the cargo separated from the fixed wing unmanned aerial vehicle), the combined type buffer device is connected with the device placing platform (also forming a platform) in a placeable manner, and when the low-altitude air-drop cargo is received, the primary shock absorption can be carried out on the cargo moving at high speed; the area is connected with the deceleration buffer area 2 through a horizontal arc of an adjusting shaft, the surface of the receiving guide area 1 is divided into a smooth area and a non-smooth area, and the surface of the non-smooth area is coated with a coating film with a sliding friction coefficient of 0.4 (relative to the surface of the low-air-drop goods package). When receiving low-level airdrop goods, the receiving guide area 1 is used for receiving the goods and buffering the transverse speed of the goods, so that the goods can accurately enter the area at the speed parallel to the buffering deceleration area 2.
The buffering deceleration zone 2 is of a rectangular (0.8m by 12m) structure taking nickel-chromium alloy as a main material, has the advantages of high strength, corrosion resistance and the like, the front end of the buffering deceleration zone is connected with the receiving guide zone 1 through a horizontal arc of an adjusting shaft, and the tail end of the buffering deceleration zone is horizontally connected with the sliding deceleration zone 3. The surface of the buffering and decelerating area is coated with a layer of coating film with a sliding friction coefficient (relative to the surface of the low-airdrop cargo package) of 1, when the low-airdrop cargo is received, the cargo enters the area from the receiving and guiding area 1, and the sliding friction force generated by the coating film on the surface and the movement of the cargo can provide primary deceleration power for the high transverse speed of the cargo.
The sliding deceleration zone 3 and the buffering deceleration zone 2 are made of the same material, the zone is of a rectangular (0.8m by 10m) structure, the surface of the zone is coated with a layer of coating with a sliding friction coefficient (relative to the surface of the emergency goods package) of 1.5, the front end of the zone is horizontally connected with the buffering deceleration zone 2, and the tail end of the zone is connected with the goods taking zone 4. When receiving low-altitude air-drop goods, the goods enter the buffer deceleration area 2, and the sliding friction force generated by the surface coating and the motion of the goods can provide secondary deceleration power for the high transverse speed of the goods.
The goods taking area 4 mainly comprises a high-elasticity rubber net, a telescopic plate and a protective plate, wherein the rubber net is made of polyurethane rubber, is a material polymerized by polyester and diisocyanamide compounds, has the advantages of high impact resistance, strong tear resistance, high buffering and damping performance and the like, is mainly used for temporarily storing low-altitude goods, and the high-elasticity rubber net can be taken down from the device so as to be convenient for operators to collect the goods; the expansion plate is made of titanium-magnesium alloy material, and has the advantages of high specific strength, small density, corrosion resistance, recoverability and the like. The protection shield is located whole device afterbody, and when receiving low air drop goods, if this goods when getting the goods district and have a higher speed, the protection shield is flexible material, and mainly used cushions this goods speed, makes this goods steadily get into in the high-elastic rubber net. The goods taking area 4 is positioned at the tail end of the whole receiving device and is mainly horizontally connected with the tail part of the sliding deceleration area 3, when low-altitude dropped goods are received, the expansion plate is placed at the tail part of the sliding deceleration area 3, and the high-elasticity rubber net is taken out so as to receive the goods.
The side wall protection device 5 is divided into a receiving guide area part, a buffering deceleration area part, a sliding deceleration area part and a goods taking area part, and the inner wall of the side wall protection device is smooth and is of a semicircular (d is 0.8m) tubular structure. Wherein the side wall protection device of the receiving guide area 1 is connected with the side wall protection device of the buffering deceleration area 2 in a horizontal arc shape by an adjusting shaft. When receiving low-altitude dropped goods, the side wall protection device of the receiving guide area 1 provides a speed guide effect for the goods, reduces the damage of the goods caused by impact in the sliding process of the goods and enables the goods to accurately enter the buffering deceleration area 2; the inner wall of the side wall protection device of the buffer deceleration zone 2 is provided with 6 grooves with the thickness of 0.5m by 0.2m which are symmetrically distributed and used for placing a deceleration plate 7.
The sealing protection device 6 is divided into a receiving guide area part, a buffering deceleration area part, a sliding deceleration area part and a goods taking area part, and except the receiving guide area part, the lower surface of the top plate of the sealing protection device of the rest parts is of an opening and groove structure which is of a rectangular structure as a whole. The buffer deceleration area side wall protection device, the sliding deceleration area side wall protection device and the goods taking area side wall protection device are communicated and sealed, if an opening enabling the inside and the outside to be communicated is formed, a sealing strip can be used for sealing, and the receiving guide area sealing protection device and the buffer deceleration area sealing protection device are smoothly and hermetically connected through an adjusting rotating shaft. The sealing protection device 6, the side wall protection device 5, the buffering deceleration area 2, the sliding deceleration area 3 and the goods taking area 4 are in rectangular tubular space structures and are used for protecting each deceleration area and reducing damage to the surface coating of the areas in severe environments such as rain, snow, sand blown by the wind and the like.
The decelerating plate 7 is connected with the groove of the inner wall of the side wall protection device of the buffering decelerating zone 2 through a rotating shaft, is fixed on the inner wall of the groove of the side wall protection device of the buffering decelerating zone by a buffer spring and is placed in the buffering decelerating zone 2 in a natural state. The buffer spring is made of alloy spring steel, and has high tensile strength, large elastic limit and high fatigue strength so as to ensure that the spring has high enough elastic deformation capacity and can bear large load. When accepting low empty air-drop goods, buffer spring is the natural tension state, and when the goods passed through the air brake, buffer spring atress compressed can provide speed reduction power for the goods slows down.
The one-piece sealing cover 8 is a protection device at the receiving opening of the receiving guide area, the surface of the one-piece sealing cover is designed in a groove mode, the one-piece sealing cover and the periphery of the receiving opening are sealed by rubber strips, and the one-piece sealing cover is fixed at the receiving opening of the receiving guide area by an adjusting rotating shaft and a buffer spring with higher sensitivity. When receiving low latitude sky head goods, this goods breaks away from fixed wing unmanned aerial vehicle, by one piece formula closing cap 8 get into receive guide area 1 in, one piece formula closing cap 8 receives impact force compression buffer spring, and accessible recess is fixed in and receives guide area 1, treats that the goods gets into completely and receives guide area 1 in, one piece formula closing cap kick-backs naturally. When not in use, the one-piece sealing cover 8 can protect the receiving guide area and reduce the damage to the area under the severe environments of rain, snow, sand wind and the like.
The sliding goods receiving device 9(0.6m x 0.6m) is arranged at the joint of the receiving guide area 1 and the buffering deceleration area 2, and the upper end of the sliding goods receiving device is arranged in a groove of the sealing protection device through two pulleys and a unidirectional 90-degree rotating shaft. Because the one-way rotating shaft of the sliding goods receiving device can rotate only by 90 degrees, the goods can enter the buffering guide area from the receiving guide area, when receiving low-altitude thrown goods, if the goods stay in the buffering deceleration area 2 or the sliding deceleration area 3, the sliding goods receiving device slides along the inner groove of the sealing protection device, so that the goods reach the goods taking area 4, and an operator can take the goods conveniently; after the operator finishes picking the goods, the sliding goods receiving device is driven by the motor to return to the initial position.
L ED indicating device 10 is that the rectangle is placed in receiving guide area receiving port four corners department, supply power through 3v button cell, but in order to ensure fixed wing unmanned aerial vehicle accurate recognition device position, in time adjust fuselage position and flight direction, wherein L ED lamp A and L ED lamp B are the upper left portion and the upper right portion that white lamp is located receiving guide area receiving port four corners department respectively, L ED lamp C and L ED lamp D are the lower right portion and the lower left portion that red lamp is located receiving guide area receiving port four corners department respectively.
The wind direction velocimeter 11 is arranged in the middle of the top of the receiving guide area 1, and is matched with a 1.5v button cell, so that wind direction information can be effectively obtained, a shell of the velocimeter adopts high-quality aluminum alloy sections, electroplating and plastic spraying treatment are carried out on the outside of the shell, the shell has the characteristics of good corrosion resistance, corrosion resistance and the like, the phenomenon of rustless carving of a transmitter inside the velocimeter can be guaranteed to be used for a long time, meanwhile, an internal smooth bearing system is matched, the accuracy of information acquisition is guaranteed, when airdrop goods are received, the miniature wind direction velocimeter is mainly used for detecting real-time wind direction and wind speed, after the fixed-wing unmanned aerial vehicle receives acquired data, the miniature wind direction velocimeter is matched with L ED indicating device 10, the.
The combined type buffer device 12 is provided with two pairs of buffer devices which are respectively arranged at the front end and the tail end of the bottom surface of the receiving guide area 1, wherein the combined type buffer device at the front end consists of spring steel and a telescopic pipe, and the combined type buffer device at the tail end only consists of the spring steel.
The device supporting columns 13 are of a columnar structure with the height of 1m and are mainly used for supporting the receiving device, and four pairs of the device supporting columns are respectively arranged at the front end of each combined type buffer device placing plate 14, the front end of the buffer deceleration zone 2, the front end of the sliding deceleration zone 3 and the tail end of the sliding deceleration zone 3.
The combined type buffer device placing plate 14 is of a (0.8m x 1.2m x 8m) trapezoidal structure, is smoothly connected with the buffer deceleration area, and is mainly used for placing the combined type buffer device 12.
The use process comprises the following steps:
in cities with dense population and buildings, such as when there is a demand for emergency material transportation, for example: the medical field needs to rapidly convey emergency drugs, and government or other department organizations have the requirements of emergency document transportation or other articles, at the moment, after the distribution end of the fixed-wing unmanned aerial vehicle confirms the requirements of the article transportation, the distribution station immediately plans a flight route according to the specific position of the received goods and flies to the required area.
1. When flying to a demand area, the fixed wing unmanned aerial vehicle determines an accurate area for releasing an object, and the method for determining the release area comprises the following steps: firstly, dividing the whole air-drop area into an air-drop initial area, a control area and a delayed control area from outside to inside in sequence; secondly, determining the maximum control area radius R after time delaymax(ii) a Then use RmaxObtaining the radius r of the maximum control area of air dropmax(ii) a Finally utilize rmaxObtaining the maximum initial area radius R of air dropOmax. Thereby improving the throwing precision and achieving the aim of accurate throwing.
2. When the fixed-wing unmanned aerial vehicle is about to reach the receiving device for the first 3 minutes, L ED lamps at four corners of the receiving device are lightened, a telescopic plate of a goods taking area at the tail of the device slides into the tail of a sliding deceleration area, and a high-elastic rubber net of the goods taking area is naturally opened, so that the unmanned aerial vehicle is adjusted from high-altitude flight to high-altitude horizontal flight with the vertical distance of 100cm from the receiving device (the distance is adjusted in real time according to the height of the receiving device).
3. When the unmanned aerial vehicle arrives at a receiving area, the unmanned aerial vehicle flies around the receiving device, because the direction of the receiving device is not fixed, when the fixed-wing unmanned aerial vehicle flies around the receiving device horizontally, a digital camera in the fixed-wing unmanned aerial vehicle can detect two white light source pixels (L ED lamps A and L ED lamps B) and two red light source pixels (L ED lamps C and L ED lamps D) of L ED lamps, at the moment, the unmanned aerial vehicle can determine the receiving direction of the receiving device according to the positions of the light source pixels, and based on the visual angle of the fixed-wing unmanned aerial vehicle, the central value between the two white light source pixels is found through an image recognition algorithm through the white light source pixel distance between L ED lamps A and L ED lamps B detected by the digital camera in the unmanned aerial vehicle, and the direction is adjusted and corrected according to the real-time wind direction, the wind speed and other factors which are measured by a micro anemoscope, so that the fixed-wing unmanned aerial vehicle can fly along the central value of the two white light source pixels in time.
4. The unmanned aerial vehicle can determine the position of the device through the identification device L ED lamp, receive the direction, adjust the flying height and speed in time, determine the magnitude of the real-time wind direction and the wind speed and the movement track of the air-dropped goods according to the miniature wind direction velocimeter at the top of the device, obtain the dropping angle and the accurate direction, comprehensively find the optimal delivery goods position and accurately drop the goods.
5. When the fixed wing unmanned aerial vehicle drops goods, the goods are separated from the fixed wing unmanned aerial vehicle and enter the receiving device through the one-piece type closed cover, the combined type buffer device connected with the receiving guide area and the device placing platform is compressed by the impact force of low-altitude dropped goods, the shock absorption is provided for the goods moving at high speed, the angle between the receiving guide area and the device placing platform is adjusted by the adjusting shaft, the dropping speed direction of the goods is tangential to the receiving guide area direction of the receiving device, the horizontal speed of the goods is 72km/h, the quality of the goods is 2kg for example, as the sliding friction force is generated between the surface of the receiving guide area and the low-altitude dropped goods, the force is calculated to be larger than the component force of the weight of the goods in the moving speed direction, when the goods reach the buffering deceleration area, the speed is 68.4km/h, and the goods enter the buffering deceleration area through the sliding goods receiving device by the receiving guide area, the goods moving at high speed and the surface of the buffering deceleration area generate sliding friction force, the acting force provides deceleration power for the goods deceleration, the buffering spring is compressed under force when the goods pass through the deceleration plates in the area, the deceleration power can be provided for the goods deceleration, and the moving speed of the goods is about 36km/h when the goods continuously pass through the three pairs of deceleration plates and reach the joint of the sliding deceleration area and the buffering deceleration area; then the goods continuously slide to the sliding deceleration area, as the friction coefficient between the surface of the object in the sliding deceleration area and the surface coating film in the area is 1.5, the sliding friction force generated between the surface of the sliding deceleration area and the surface of the goods continuously provides deceleration power for the goods, and the moving speed of the goods can be reduced to 0 at a position 5m away from the tail end of the buffering deceleration area. When the goods are completely static relative to the receiving device, the sliding receiving device slides along the inner groove of the sealing protection device at the moment, so that the goods reach the goods taking area and then return to the initial position. Because of the size and volume of the goods, if the goods are not completely decelerated in the device and the final speed is lower, the goods can naturally slide into the high-elasticity rubber net in the goods taking area; if the goods are completely decelerated in the device, when the final speed is higher, the goods can impact the protection plate in the goods taking area, the protection plate is made of flexible materials, the deceleration can be provided for the goods, and the goods finally fall into the high-elasticity rubber net.
6. After the low-level airdrop goods are received, the goods are taken out of the high-elasticity rubber net device, the goods are taken out, then the high-elasticity rubber net device is arranged in the goods taking area, after the operation is completed, the expansion plate slides back to the goods taking area, and the receiving is completed.
The utility model provides a receiving arrangement based on fixed wing unmanned aerial vehicle roof airdrop goods, including the receipt guiding area, buffering deceleration zone, the region of slowing down that slides of intercommunication and be located the district of getting goods of the region tip of slowing down that slides, receive guiding area, buffering deceleration zone, the region of slowing down that slides and install at the platform, the platform support by the device support column.
Furthermore, the receiving guide area is in a trapezoidal tubular structure and is arranged on a platform of the base of the receiving device, the front end opening of the receiving guide area is larger than the rear end opening of the receiving guide area, the combined buffer device lifts the receiving guide area and forms a certain angle with the platform, the combined buffer device comprises two pairs of buffer devices which are respectively arranged at the front end and the tail end of the outer bottom surface of the receiving guide area, the buffer device at the front end consists of spring steel and a telescopic pipe, the telescopic pipe is arranged on the platform, the top of the telescopic pipe is connected with the spring steel, the spring steel is connected with the outer bottom surface of the front end of the receiving guide area, the buffer device at the tail end consists of the spring steel, the spring steel is arranged on the platform, and the top of the spring steel is connected with the.
Furthermore, the top plate of the buffering deceleration area and the sliding deceleration area has a certain thickness, the lower surface of the top plate is provided with an opening, and a groove which does not penetrate through the top plate is dug upwards from the opening along the two sides of the opening, the width of the groove is larger than that of the opening, the sliding goods receiving device comprises two opposite pulleys, a rotating shaft is arranged between the pulleys, a grid sheet which can rotate along with the rotating shaft is integrally formed on the rotating shaft, the two pulleys and the rotating shaft are positioned in the groove, the pulleys can slide on the bottom surface in the groove, and the part of the rotating shaft connected with the grid sheet is suitable for the shape and the size of the opening, the sliding goods receiving device is driven by the motor to slide from the buffering deceleration area to the sliding deceleration area on the bottom surface.
Furthermore, the rear end opening of the receiving guide area is connected with the front end opening of the buffering and decelerating area through a rotating shaft.
Furthermore, the receiving guide area part, the buffering deceleration area part, the sliding deceleration area part and the goods taking area are provided with side wall protection devices, the inner walls of the side wall protection devices are smooth and are of semicircular tubular structures, and the inner walls of the side wall protection devices of the buffering deceleration area are symmetrically distributed with a plurality of grooves for installing deceleration plates.
Furthermore, the speed reducing plate is connected with a groove on the inner wall of the buffering speed reducing area through a rotating shaft, is fixed on the inner wall of the groove through a buffer spring and is placed in the buffering speed reducing area in a natural state.
Furthermore, the one-piece type closed cover is a protection device at the receiving opening of the receiving guide area, the surface of the one-piece type closed cover is of a groove type, the one-piece type closed cover and the periphery of the receiving opening are closed by rubber strips, and the one-piece type closed cover is fixedly connected with the receiving opening of the receiving guide area in an openable and closable manner through an adjusting rotating shaft and a buffer spring.
Further, the bottom plate that coasts the speed reduction district has unified and certain thickness, and near the end of the bottom plate in the speed reduction district of going is the district of getting goods, get the goods district mainly by rubber net, expansion plate and protection shield and constitute, expansion plate telescopic connection be in the bottom plate in, and the expansion plate stretches out the bottom plate in order to shelter from the opening of platform, the expansion plate withdrawal is so that the platform opening exposes, the rubber net is connected to platform open-ended below, and the end that coasts the speed reduction district is the enclosed construction, and this enclosed construction is the protection shield that flexible material made.
Further, the bottom plate that coasts the speed reduction district has unified and certain thickness, and near the end of the bottom plate in the speed reduction district of going is the district of getting goods, get the goods district mainly by rubber net, expansion plate and protection shield and constitute, expansion plate telescopic connection be in the bottom plate in, and the expansion plate stretches out the bottom plate in order to shelter from the opening of platform, the expansion plate withdrawal is so that the platform opening exposes, the rubber net is connected to platform open-ended below, and the end that coasts the speed reduction district is the enclosed construction, and this enclosed construction is the protection shield that flexible material made.
Furthermore, the L ED indicating device is placed in the four corners of the receiving opening of the receiving guiding area in a rectangular shape, wherein the L ED lamp A and the L ED lamp B are white lamps and are respectively positioned at the upper left part and the upper right part of the four corners of the receiving opening of the receiving guiding area, and the L ED lamp C and the L ED lamp D are red lamps and are respectively positioned at the lower right part and the lower left part of the four corners of the receiving opening of the receiving guiding area.
The above description is only for the purpose of creating a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the technical scope of the present invention.
Claims (5)
1. A receiving method of buffered roof airdrop goods is characterized by comprising the following steps:
s1, when a fixed-wing unmanned aerial vehicle flies to a demand area, the fixed-wing unmanned aerial vehicle determines an accurate area for throwing an object;
s2, when the fixed-wing unmanned aerial vehicle is about to reach the receiving device for the first few minutes, L ED lamps at four corners of the receiving device are lightened, a telescopic plate of a goods taking area at the tail of the device slides into the tail of a sliding deceleration area, and a high-elastic rubber net of the goods taking area is opened;
s3, when the unmanned aerial vehicle arrives at a receiving area, the fixed-wing unmanned aerial vehicle flies around the receiving device, and the direction of the unmanned aerial vehicle body is adjusted according to L ED lamps at four corners during the horizontal flying around of the fixed-wing unmanned aerial vehicle;
s4, delivering goods by the fixed-wing unmanned aerial vehicle;
s5, when the fixed-wing unmanned aerial vehicle drops goods, the goods are separated from the fixed-wing unmanned aerial vehicle and enter a receiving device through a one-piece type sealing cover, a combined type buffer device is compressed by the impact force of air-dropped goods to provide shock absorption for the moving goods, the goods enter a buffering and decelerating region through a sliding goods receiving device from a receiving guide region, the goods pass through the buffering and decelerating region and are contacted with a decelerating plate, a buffer spring is stressed and compressed to provide decelerating power for decelerating the goods, the goods continue to slide to the sliding and decelerating region, when the goods are completely static relative to the receiving device, an expansion plate retracts and slides to a bottom plate, the sliding goods receiving device slides along an inner groove of a sealing protection device, the goods are pushed to reach a goods taking region by the sliding goods receiving device, and the goods slide downwards to a rubber;
s6, after receiving the low-altitude dropped goods, taking the goods out of the high-elasticity rubber net device, taking the goods out, then placing the high-elasticity rubber net device in a goods taking area, after the operation is completed, sliding the expansion plate back to the goods taking area, and finishing the receiving.
2. A method of receiving cushioned roof airdrops as set forth in claim 1, wherein the drop zone is determined by:
dividing the whole air-drop area into an air-drop initial area, a control area and a delayed control area from outside to inside in sequence;
determining the maximum control region radius R after delaymax；
By means of RmaxObtaining the radius r of the maximum control area of air dropmax；
By using rmaxObtaining the maximum initial area radius R of air dropOmax。
3. The method of receiving cushioned roof airdrops as set forth in claim 1, wherein the digital camera in the fixed-wing drone detects L two white light source pixels and two red light source pixels of the ED light, the drone determines the direction of reception of the receiving device from the light source pixel positions, and based on the fixed-wing drone's view angle, finds the midpoint value between the two white light source pixels by an image recognition algorithm through the white light source pixel distance between L ED light a and L ED light B detected by the digital camera in the drone, adjusts the position of the fuselage in time to fly the fixed-wing drone along the midpoint value of the two white light source pixels.
4. A method of receiving cushioned roof airdrop cargo as claimed in claim 1 wherein the axis of rotation is adjusted to adjust the angle of the receiving guide area to the device placement platform such that the direction of the drop of the cargo is tangential to the direction of the receiving guide area of the receiving device.
5. The method of receiving cushioned roof airdrop cargo as set forth in claim 1 wherein, if the cargo does not complete its entire deceleration within the receiving apparatus, at the end of its greater velocity, said cargo strikes the fender in the cargo pick-up area, which fender is of a flexible material to provide deceleration to the cargo and to cause the cargo to eventually fall into the elastomeric net in step S5.
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 |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910244964.3A CN109823762B (en) | 2019-03-28 | 2019-03-28 | Receiving method of buffered roof airdrop goods |
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| CN109823762A CN109823762A (en) | 2019-05-31 |
| CN109823762B true CN109823762B (en) | 2020-07-28 |
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| 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 |
| KR101964259B1 (en) * | 2017-08-14 | 2019-04-01 | 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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