CN109866936A - UAV Landing based on six degree of freedom hybrid mechanism recycles integrated mobile platform - Google Patents
UAV Landing based on six degree of freedom hybrid mechanism recycles integrated mobile platform Download PDFInfo
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- CN109866936A CN109866936A CN201910191507.2A CN201910191507A CN109866936A CN 109866936 A CN109866936 A CN 109866936A CN 201910191507 A CN201910191507 A CN 201910191507A CN 109866936 A CN109866936 A CN 109866936A
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Abstract
The invention discloses the UAV Landings based on six degree of freedom hybrid mechanism to recycle integrated mobile platform, including wheel, dynamical system, posture adjusting system, Work platform system, wheel are placed in the bottom, connect with bottom dynamical system；Dynamical system is set to beside the wheel, posture adjusting system is located at lower part, including upper three-DOF planar parallel mechanism, lower three-DOF planar parallel mechanism, assistance platform, Work platform system includes folding and expanding platform, wireless charging module system, Wireless detection module, radar installations, folding and expanding platform is located on the upside of the posture adjusting system, wireless charging module system is set to the folding and expanding mesa base, and Wireless detection module is mounted on the upper surface of the folding and expanding platform.The present invention using hybrid mechanism posture adjustment balance, integrate multi-functional, realize accurate posture adjustment, folding and expanding platform increase work area, be embodied as unmanned plane persistently charge stablize continue a journey, operation difficulty is lower, safety is higher, stability is stronger.
Description
Technical field
The present invention relates to unmanned plane technical field of auxiliary equipment, in particular to a kind of nothing based on six degree of freedom hybrid mechanism
Man-machine landing recycling integrated mobile platform passes through the posture adjustment of hybrid mechanism platform and nobody during small drone landing
Machine is docked and is gathered multi -function in integral whole.
Background technique
With the continuous development of unmanned air vehicle technique and the extension of domestic small drone application field, unmanned plane is faced with all
More problems, for example unmanned plane takes off difficult with landing in complicated landform, unmanned plane cruise duration is short, unmanned plane transport is inconvenient
Deng；The equipment of unmanned plane continuation of the journey is currently used for using wired charging device, this charging modes are inconvenient, while with unmanned plane pair
The operating condition connect can not realize that any position is docked, this, which requires a kind of safe and reliable, the operation is stable, Omni-mobile and to include
The multifunctional dolly of folding and expanding wireless charging platform can be realized unmanned plane under complicated environmental condition and steadily take off, drop
It falls, deliver, intelligent quick charge etc..In China's industrial production, this technology for assisting unmanned plane to go up and down also has application
Such as: patent of invention " a kind of pickup type vehicle-mounted unmanned aerial vehicle intelligence landing and autonomous continuation of the journey system CN108622432A.2018 ",
Working method is mainly by being additionally arranged at the bottom four driving motors and Mecanum wheel in unmanned plane undercarriage to solve unmanned plane
The Omni-mobile on platform the problem of, vision processing module is made of GPS module and vision camera module, vision processing module
It is equipped with embedded chip.Infrared sensor detection wireless charging transmitting module connects with wireless charging receiving module
Touching starts to carry out wireless charging.But in actual application since unmanned plane may be needed in some acclive complicated tables
Face takes off and lands, which cannot achieve unmanned plane and be inclined at an angle stable landing, and includes that function is less.
Currently, the existing posture adjustment platform for unmanned plane landing has the branch unit of six-bar linkage, mobile platform is connected
To bottom plate platform.Mobile platform has a pair of of the bracket for being used to support thin-wall member.Branch make mobile platform with bottom plate
It is moved in the case where platform parallel along the central axial direction of component, and makes asynchronous fortune of the component with six-freedom degree
It is dynamic, plane motion and rotation including three directions.Six axis posture adjustment platforms and proposed by the invention six involved in the technology
Freedom degree posture adjustment principle is different.For universality, safety and the economy for improving device, the present invention proposes a kind of applied to complexity
Small drone landing field under environmental condition based on the multi-functional nothing being integrated of six degree of freedom hybrid mechanism posture adjustment union
Man-machine auxiliary Omni-mobile trolley.
Summary of the invention
In view of the above technical problems, the purpose of the present invention is to provide a kind of unmanned planes based on six degree of freedom hybrid mechanism
Land recycling integrated mobile platform, and the top of the platform uses six degree of freedom hybrid mechanism, radar installations, radio detection mould
Block, the wind speed being primarily based in the air velocity transducer detection air of Wireless detection module find suitable small-sized pilotless aircraft landing
Suitable wind speed, then by six degree of freedom hybrid mechanism, above platform GPS and the electromagnetic wave of radar installations transmitting to unmanned plane
Positioning, tracking, identification, detection, platform can be realized the same pose adjustment of pose when landing with unmanned plane, realizes that unmanned plane is flat
The function of buffering and damping is realized while steady landing by servomechanism.After unmanned plane is stablized and stopped, folding and expanding is flat
Wireless charging module above platform can carry out wireless charging for unmanned plane.
To achieve the above object, the present invention is realized according to following technical scheme:
A kind of UAV Landing recycling integrated mobile platform based on six degree of freedom hybrid mechanism, including wheel, power
System, posture adjusting system, Work platform system, it is characterised in that: the wheel is placed in the bottom, and the wheel is complete using four energy
The Omni-mobile that all directions are realized to mobile Mecanum wheel, connect with the dynamical system of bottom；
The dynamical system is set to beside the wheel, including first servo motor, the use for driving vehicle wheel rotation
In the second servo motor, retarder, screw thread elevating mechanism that drive the platform up and down, the first servo motor and the screw thread liter
The screw rod of descending mechanism is connected, second servo motor and the wheel respectively with the input shaft of the retarder and output shaft phase
Connection；
The posture adjusting system is located at lower part and is connected with dynamical system, including upper Three Degree Of Freedom serial mechanism, lower three are freely
Parallel institution, assistance platform are spent, the upper three-DOF planar parallel mechanism is a 3-RPR plane parallel mechanism, under described
3-freedom parallel mechanism is a 4-PUP parallel institution, and the assistance platform is located at the upper planar parallel three-freedom
Between structure and the lower three-DOF planar parallel mechanism；
The Work platform system includes folding and expanding platform, wireless charging module system, Wireless detection module, radar dress
It sets, wherein the folding and expanding platform is located on the upside of the posture adjusting system, and the folding and expanding platform includes halfpace and exhibition
Platform is opened, the wireless charging module system is set to the folding and expanding mesa base, and the Wireless detection module is mounted on
The upper surface of the expansion platform, the radar installations are mounted on the halfpace.
In above-mentioned technical proposal, the wireless charging module system includes wireless charging board, ultrasonic sensor, solar energy
Solar panel, battery, the wireless charging board are placed in the wireless charging module internal system, and the ultrasonic sensor is located at
The halfpace upper surface, the solar panel are placed in the expansion platform upper surface, and the battery is located at described
Below halfpace.
Compared with the prior art, the invention has the following advantages:
1, wheel, posture adjusting system, radar installations, GPS.The system can be received using the Mike of four energy Omni-mobiles of trolley
Nurse wheel realizes the Omni-mobile of all directions, while using the six degree of freedom mixed connection pose_adjuster installed on trolley, it is flat to adjust work
The pose of platform system realizes that folding and expanding platform still keeps horizontal on acclive ground；It is filled using the GPS and radar
Realization is set to the detection of unmanned plane, positioning, tracking, identification, the same pose adjustment of pose that lands with unmanned plane is completed, realizes unmanned plane
Stable landing；
2, wireless charging module, electromagnetism fixed module system.Wireless charging module and solar panel, battery are mutual
Co-ordination, solar panel are storage battery power supply, and battery is the power supply of micro radio charging panel, to be embodied as small-sized nothing
It is man-machine to continue intelligent wireless power supply；Electromagnetism fixed module guarantees that unmanned plane is closely solid after landing using the adsorptivity of calutron
It is scheduled on above wireless charging module；
3, Wireless detection module system, folding and expanding platform.Wireless detection module can detect air by air velocity transducer
In wind speed, find the suitable wind speed of suitable small-sized pilotless aircraft landing；Folding and expanding platform can be adjusted by hybrid mechanism to be made
Two chain-wales rotations make to be in same plane with large platform, to greatly increase work area, guarantee unmanned aerial vehicle body
It will not be interfered with Omni-mobile trolley in descent；Chain-wales can also form one by rotation and large platform simultaneously
A closing rectangular parallelepiped space, so as to carry unmanned plane Omni-mobile.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is stereoscopic schematic diagram of the invention；
Fig. 2 is dynamical system schematic diagram；
Fig. 3 is partial enlargement diagram；
Fig. 4 and Fig. 5 is the schematic diagram of posture adjusting system；
Fig. 6 and Fig. 7 is the structure principle chart of posture adjusting system；
Fig. 8 is support device schematic diagram；
Fig. 9 and Figure 10 is folding and expanding platform and module diagram；
Figure 11 is unmanned plane Omni-mobile accessory cart diagram；
Wherein, appended drawing reference: 1- wheel, 2- dynamical system, 3- posture adjusting system, 4- Work platform system；The first servo of 21-
Motor, 22- retarder, 221- input shaft, 222- output shaft；The second servo motor of 23-, 24- screw thread elevating mechanism, 241- spiral shell
Bar；Three-DOF planar parallel mechanism, 33- radar installations, 34- auxiliary are flat under the upper three-DOF planar parallel mechanism of 31-, 32-
Platform, 341- fixed plate, 342- steel ball, 343- connecting plate, 344- steel ball fixed frame, 345- connecting shaft, 346- nut；41- is folded
Platform, 411- halfpace, 412- is unfolded, platform, 42- wireless charging module system, 421- solar panel, 422- is unfolded
Battery, 423- wireless charging board, 424- ultrasonic sensor, 43- Wireless detection module.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.
A kind of UAV Landing based on six degree of freedom hybrid mechanism of the invention recycles integrated mobile platform, including vehicle
1, dynamical system 2, posture adjusting system 3, Work platform system 4 are taken turns, as shown in Figure 1, wheel 1 is placed in the bottom of device, by four energy
The Mecanum wheel of Omni-mobile realizes that predominantly trolley offer moves freely, obstacle detouring effect；
Dynamical system 2 is set to the side of wheel 1, including for the servo motor 21 of vehicle wheel rotation, retarder 22, for putting down
Servo motor 23, the screw thread elevating mechanism 24 of platform lifting, servo motor 21 and wheel 1 for vehicle wheel rotation respectively with retarder
22 input shaft is connected with output shaft, for 21 output torque of servo motor of vehicle wheel rotation, is changed by retarder 22
Power in wheel 1, servo motor 23 and screw thread elevating mechanism 24 for platform lifting are connected by screw rod 241 and retarder 22
It connects, as shown in Figure 2；
Posture adjusting system 3 is located at trolley bottom, including the parallel connection of upper three-DOF planar parallel mechanism 31, lower three-freedom planar
Mechanism 32, radar installations 33, assistance platform 34, upper three-DOF planar parallel mechanism 31 are mounted on planar parallel three-freedom
On structure 32, centre is supported connection by Auxiliary support platform 34, the common synchronization posture adjustment mechanical part completed to unmanned plane,
Radar installations 33 is connect with the servo motor 23 and upper three-DOF planar parallel mechanism 31 gone up and down for platform, to unmanned plane appearance
After the processing of state signal collection, the servo motor 23 and upper three-DOF planar parallel mechanism for platform lifting are passed information to
31 complete synchronous posture adjustment；
Posture adjusting system 3 is six degree of freedom hybrid mechanism, as shown in figure 3, top is upper three-DOF planar parallel mechanism 31,
For 3-RPR mechanism, completes to rotate Z axis and respectively to X, two movements of Y-direction, are lower planar parallel three-freedom below
Structure 32 is 4-PUP mechanism, completes remaining two rotations and a movement, and wherein R is cradle head, and U is Hooke hinge, and P is to move
The synchronization posture adjustment of unmanned plane is completed in movable joint, the two series connection according to the signal of radar transmitting, and the structure principle chart of posture adjusting system is such as
Shown in Fig. 6 and Fig. 7；
Auxiliary support platform 34 is located at upper mounting plate lower part, is connected with dolly chassis.34 upper and lower part of Auxiliary support platform about
Connecting plate 343 is symmetrical, and steel ball fixed frame 344 and fixed plate 341 are connected, and steel ball 342, steel ball fixed frame 344, fixed plate 341 connect
It is connected into as an entirety, arrangement symmetrical above and below is linked together with connecting shaft 345 and connecting plate 344, and connecting shaft 345 is used above and below
Double nut 346 is fixed, and support device schematic diagram is as shown in Figure 8；
Work platform system 4 is located at 3 top of posture adjusting system, including folding and expanding platform 41, wireless charging module system 42,
Wireless detection module 43, radar installations 33 illustrate folding and expanding platform and module diagram, wireless charging in conjunction with Fig. 9, Figure 10
Electric modular system 42 is set to the folding and expanding mesa base, and folding and expanding platform 41 includes halfpace 411, expansion platform
412, Wireless detection module 43 is mounted on the upper surface of the expansion platform 412, and radar installations 33 is mounted on the folding and expanding
On the halfpace 411 of platform 41.
Both halfpace 411 and expansion platform 412 can be adjusted to same plane by hybrid mechanism, to greatly increase
Work area, guarantees that any interference will not occur for the landing of unmanned plane, while a closing length can also be synthesized with large platform
Cube space, as shown in Figure 4 and Figure 5, in halfpace 411, battery 422 is placed in platform in the following, can pass through small-scale ultrasonic
Sensor carries out wireless charging to unmanned plane by the micro radio charging panel of upper surface, constitutes wireless charging module system 42, nothing
Line detection module 43 can detect the wind speed in air by air velocity transducer, find the suitable wind of suitable small-sized pilotless aircraft landing
Speed；
Wireless charging module system 42 includes solar panel 421, battery 422, wireless charging board 423, ultrasonic wave
Sensor 424, wireless charging board 423 are placed in inside wireless charging module system 42, and ultrasonic sensor 424 is located at the centre
411 upper surface of platform, solar panel 421 are placed in expansion 412 upper surface of platform, and the battery 422 is located at halfpace
411 lower sections.
Figure 11 is unmanned plane Omni-mobile accessory cart diagram.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (2)
1. a kind of UAV Landing based on six degree of freedom hybrid mechanism recycles integrated mobile platform, including wheel, dynamical system
System, posture adjusting system, Work platform system, it is characterised in that: the wheel is placed in the bottom, and the wheel uses four Ge Neng omnidirectionals
Mobile Mecanum wheel realizes the Omni-mobile of all directions, connect with the dynamical system of bottom；
The dynamical system is set to beside the wheel, including for driving vehicle wheel rotation first servo motor, for driving
The second servo motor, the retarder, screw thread elevating mechanism of moving platform lifting, the first servo motor and the screw thread elevator
The screw rod of structure is connected, and second servo motor and the wheel are connected with the input shaft of the retarder and output shaft respectively
It connects；
The posture adjusting system is located at lower part and is connected with dynamical system, including upper Three Degree Of Freedom serial mechanism, lower Three Degree Of Freedom are simultaneously
Online structure, assistance platform, the upper three-DOF planar parallel mechanism are a 3-RPR plane parallel mechanisms, and described lower three certainly
A 4-PUP parallel institution by degree parallel institution, the assistance platform be located at the upper three-DOF planar parallel mechanism and
Between the lower three-DOF planar parallel mechanism；
The Work platform system includes folding and expanding platform, wireless charging module system, Wireless detection module, radar installations,
Wherein, the folding and expanding platform is located on the upside of the posture adjusting system, and the folding and expanding platform includes halfpace and expansion
Platform, the wireless charging module system are set to the folding and expanding mesa base, and the Wireless detection module is mounted on institute
The upper surface of expansion platform is stated, the radar installations is mounted on the halfpace.
2. a kind of UAV Landing recycling integrated mobile based on six degree of freedom hybrid mechanism according to claim 1 is flat
Platform, which is characterized in that the wireless charging module system includes wireless charging board, ultrasonic sensor, solar panel, storage
Battery, the wireless charging board are placed in the wireless charging module internal system, and the ultrasonic sensor is located at the centre
Platform upper surface, the solar panel are placed in the expansion platform upper surface, and the battery is located at the halfpace
Lower section.
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| CN201910191507.2A CN109866936B (en) | 2019-03-14 | 2019-03-14 | Unmanned aerial vehicle landing and recovery integrated mobile platform based on six-degree-of-freedom series-parallel mechanism |
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| CN201910191507.2A CN109866936B (en) | 2019-03-14 | 2019-03-14 | Unmanned aerial vehicle landing and recovery integrated mobile platform based on six-degree-of-freedom series-parallel mechanism |
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| CN110380501A (en) * | 2019-08-15 | 2019-10-25 | 国网冀北电力有限公司承德供电公司 | A kind of folding and unfolding of express delivery unmanned plane and charging platform based on wind light mutual complementing |
| CN110469758A (en) * | 2019-08-15 | 2019-11-19 | 燕山大学 | Super large carries omnidirectional's delivery posture adjustment platform and ground surface self-adaption Omni-mobile unit |
| CN110509311A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | The more redundant drive six-freedom parallel posture adjustment platforms of underloading based on three legs |
| CN112849423A (en) * | 2021-02-07 | 2021-05-28 | 广东金筑工程管理有限公司 | Unmanned aerial vehicle building engineering supervision system |
| CN113311865A (en) * | 2021-05-27 | 2021-08-27 | 北京理工大学 | Unmanned aerial vehicle ground autonomous recovery method independent of ground-air data interaction |
| CN115348935A (en) * | 2020-01-22 | 2022-11-15 | 科氏工程两合公司 | Landing area configuration with multiple detachable sections and method of operating such a landing area configuration |
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| CN115348935A (en) * | 2020-01-22 | 2022-11-15 | 科氏工程两合公司 | Landing area configuration with multiple detachable sections and method of operating such a landing area configuration |
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| CN113311865A (en) * | 2021-05-27 | 2021-08-27 | 北京理工大学 | Unmanned aerial vehicle ground autonomous recovery method independent of ground-air data interaction |
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