CN110700669B - Accurate recovery unmanned aerial vehicle hangar that guards on - Google Patents
Accurate recovery unmanned aerial vehicle hangar that guards on Download PDFInfo
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- CN110700669B CN110700669B CN201910891091.5A CN201910891091A CN110700669B CN 110700669 B CN110700669 B CN 110700669B CN 201910891091 A CN201910891091 A CN 201910891091A CN 110700669 B CN110700669 B CN 110700669B
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- 238000011084 recovery Methods 0.000 title claims abstract description 21
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- 238000004891 communication Methods 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 4
- 239000002356 single layer Substances 0.000 claims description 4
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- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 abstract description 3
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- 230000002159 abnormal effect Effects 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/44—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages for storing aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an accurate recovery on-duty unmanned aerial vehicle hangar, which consists of a top solar panel cover, an outer side door post of the hangar, a left side sliding door, a right side sliding door, a plurality of parking rooms and a bottom control room, wherein a meteorological data acquisition device is installed on the top solar panel cover, the unmanned aerial vehicle hangar comprises a plurality of parking rooms, and consists of a fixed parking apron, a movable parking apron and a parking room door, a first multifunctional limiter installed on the fixed parking apron and a second multifunctional limiter installed on the movable parking apron are used for automatic righting operation after the unmanned aerial vehicle falls, an image recognition camera and a laser locator installed on the movable parking apron provide accurate landing positions for the unmanned aerial vehicle, and a comprehensive controller, a communicator, an environmental controller and a hangar power supply device are arranged in the bottom control room. The unmanned aerial vehicle hangar can provide accurate positioning for landing of multiple unmanned aerial vehicles, and accurate recovery is realized; the unmanned aerial vehicle is automatically charged after landing and the automatic take-off and landing of the unmanned aerial vehicle are realized.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a precise recovery unmanned aerial vehicle hangar.
Background
In recent years, with the rapid development of the unmanned aerial vehicle industry in China, the number of consumption-level and industrial-level unmanned aerial vehicles is increased day by day, the application of the unmanned aerial vehicle has penetrated into various fields, and because the development speed of the unmanned aerial vehicle is too rapid, the development speed of the infrastructure matched with the unmanned aerial vehicle is too slow. Most of consumption machine unmanned aerial vehicle and industrial unmanned aerial vehicle when carrying out the task in the existing market are the task of accomplishing under operating personnel's participation, and the flight of taking off and land and the storage task of full independence are not perfect enough, especially the automatic task of charging after unmanned aerial vehicle retrieves. Meanwhile, when the unmanned aerial vehicle carries out the task in the field, the endurance problem and the take-off and landing problem in the severe external environment and the long-distance task execution are gradually highlighted.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the accurate recovery on-duty unmanned aerial vehicle hangar which can provide accurate positioning for the landing of a plurality of unmanned aerial vehicles, automatically charge the unmanned aerial vehicles after the unmanned aerial vehicles land and realize the automatic take-off and landing of the unmanned aerial vehicles.
In order to achieve the purpose, the invention adopts the following technical scheme:
an accurate recovery unmanned aerial vehicle hangar consists of a top solar panel cover, an outer side door post of the hangar, left and right sliding doors, a plurality of parking rooms and a bottom control room, wherein a meteorological data acquisition device is mounted on the top solar panel cover; the unmanned aerial vehicle hangar comprises a plurality of parking rooms, each parking room consists of a fixed parking apron, a movable parking apron and a parking room door, the parking room doors form front and rear side doors of the unmanned aerial vehicle hangar and are connected to the unmanned aerial vehicle hangar through high-strength hinges on door posts on the outer side of the hangar, the fixed parking apron is connected to the bottom of the parking room door through bolts, a first multifunctional stopper is installed on the fixed parking apron, a second multifunctional stopper is installed on the movable parking apron, an automatic charger is installed on the first multifunctional stopper and can automatically charge the unmanned aerial vehicle, and the charging mode is contact charging; the other two sides of the unmanned aerial vehicle hangar are left and right sliding doors, and sliding motors are arranged below the doors; the comprehensive controller, the communicator, the environment controller and the automatic charger are controlled by the comprehensive controller through a signal line.
The parking rooms can be arranged into a single layer or multiple layers according to actual requirements, the parking rooms in every two layers are separated by a garage middle partition plate, four independent parking rooms can be placed in each layer, each parking room works independently, and the number of the parking rooms can be adjusted according to the actual requirements; each layer of the stopping rooms can take off and land 2 unmanned aerial vehicles at most at the same time, namely the number of unmanned racks taking off and land at each time of the unmanned aerial vehicle hangar is half of the total number of the stopping rooms.
Each two parking rooms are connected by a garage center door post and two garage outer side door posts, each door post is used for fixing each parking room through a connector, two door post rotating motors are embedded in each garage outer side door post, and power lines and signal lines of the door posts are also embedded in the garage outer side door posts and are electrically connected with the integrated controller; spring relay and stand-by charger are installed to hangar intermediate bottom and top solar panel lid bottom surface, install the stand-by charger charged piece that positive and negative electrode slice connection next layer unmanned aerial vehicle top on the stand-by charger and charge for unmanned aerial vehicle, and this charging mode is the contact charging, for the stand-by charging mode in this hangar.
And a constant temperature module is installed on the outer wall of the central column of the hangar.
The fixed parking apron is of a hollow structure consisting of an upper fixed parking apron cover plate and a bottom fixed parking apron plate, wherein the upper part of one side, away from a parking room door, of the upper fixed parking apron cover plate is rounded to obtain an inclined fillet, so that an unmanned aerial vehicle is not blocked when being recovered, two side surfaces of the upper fixed parking apron cover plate are respectively provided with a lead screw guide groove for mounting a small lead screw motor and a lead screw and driving a first multifunctional stopper to move back and forth, and a pressure sensor is arranged on the surface of the first multifunctional stopper and electrically connected with the integrated controller; the bottom plate of the fixed parking apron is an L-shaped plate, and a screw motor and a screw are arranged at the center and two side edges of the vertical part and used for stretching and moving the parking apron; the screw motor is electrically connected with the integrated controller.
The mobile parking apron is a hollow structure consisting of a mobile parking apron bottom plate and a mobile parking apron upper cover plate, a laser positioner, an image recognition camera, a power line and a signal line are arranged in the mobile parking apron, and the mobile parking apron upper cover plate is provided with an opening corresponding to the mobile parking apron upper cover plate; a sealing lead screw guide groove is arranged in the middle of the bottom plate of the movable parking apron along the front-back direction and is matched with a lead screw at the center of the fixed parking apron; and gear guide grooves are reserved on two sides of the upper cover of the movable parking apron, racks are arranged in the gear guide grooves to form a movable channel, gears driven by a gear motor and a gear motor are respectively arranged on two sides of the bottom of the second multifunctional stopper, the gears are matched with the racks and used for driving the second multifunctional stopper to move, and the gear motor is electrically connected with the comprehensive controller.
The use method of the accurate recovery unmanned aerial vehicle hangar comprises the following steps:
(1) accurate recovery and automatic charging process of unmanned aerial vehicle
When an unmanned aerial vehicle is about to land, an automatic landing program is started through flight control, a hangar at the closest distance is screened, a real-time communication local area network between the hangar parking room and the unmanned aerial vehicle is established, positions of the hangar parking room and the unmanned aerial vehicle are determined mutually, sliding doors on the left side and the right side are opened, the parking room starts to act, a mobile parking apron is exposed outside, when 4 image identification points of the unmanned aerial vehicle are uniformly distributed around the central position of the mobile parking apron, a communicator transmits an instruction to the unmanned aerial vehicle, the unmanned aerial vehicle accurately lands at the central position, then the mobile parking apron is withdrawn and aligned and charges the unmanned aerial vehicle through a first multifunctional limiter and a first multifunctional limiter, the sliding doors on the left side and the right side, and the unmanned aerial vehicle accurately recovers;
(2) unmanned aerial vehicle take-off process
When unmanned aerial vehicle will take off, integrated controller gives the cab of parking at unmanned aerial vehicle place that can take off with the instruction transmission, and the sliding door is opened to the left and right sides, and the cab starts, moves the outside to the hangar when unmanned aerial vehicle, and integrated controller transmits the order that allows to take off for unmanned aerial vehicle through the communicator, and unmanned aerial vehicle flies to control and starts unmanned aerial vehicle after accepting the order, and the cab of parking and the sliding door of the left and right sides are returned to the normal position after unmanned aerial vehicle takes off, and the hangar gets into standby state.
The invention has the beneficial effects that:
1. according to the invention, through the positioning of the unmanned aerial vehicle parking room and the bidirectional positioning mode of positioning the unmanned aerial vehicle in the parking room, the problems of low landing precision of the unmanned aerial vehicle and difficulty in recovering the hangar at the present stage are solved, the unmanned aerial vehicle lands at the central position of the parking apron, and the automatic recovery and charging of the unmanned aerial vehicle in the hangar are ensured.
2. The invention can provide a single-layer or multi-layer hangar according to actual requirements, the hangar can take off and land half of unmanned aerial vehicles of own parking rooms at the same time, the limited space is fully utilized, and a platform is provided for the cluster activities of the unmanned aerial vehicles.
3. In the invention, a central door post of the hangar is connected with two outer door posts of the hangar by a hangar connector between every two layers of parking rooms, so that the hangars of each layer are quickly connected and disassembled, and favorable conditions are provided for arranging multiple layers of hangars.
4. According to the invention, each layer of the hangar is divided into 4 parking rooms, the periphery of each parking room is of a movable structure, and the door post rotating motor drives the parking rooms to rotate, so that a wide space is provided for the taking-off and landing of the unmanned aerial vehicle.
5. Each parking room is provided with a fixed parking apron and a movable parking apron, and the movable parking apron can freely stretch out and draw back within the limit range of the fixed parking apron, so that a selectable wide platform is provided for taking off and landing of the unmanned aerial vehicle; the parking chamber is driven to rotate by combining the door post rotating motor, so that a wide lifting space of the hangar with the door post at the outer side of the hangar as the center is realized.
6. According to the invention, each parking room is provided with the first multifunctional limiter and the second multifunctional limiter, and the automatic charger and the pressure sensor are arranged on the first multifunctional limiter and the second multifunctional limiter, so that the unmanned aerial vehicle has the functions of limiting the unmanned aerial vehicle to shake, pushing and pulling the unmanned aerial vehicle to move and ensuring the automatic charging of the unmanned aerial vehicle, and the functions are integrated, so that the use space in the hangar is saved.
7. According to the invention, the image recognition camera and the laser positioner are arranged in the mobile parking apron, so that the unmanned aerial vehicle can accurately land.
8. According to the invention, the solar cell panel is installed at the top of the hangar, the constant temperature module is installed in the hangar, the hangar can be operated in the field for a long time in a suitable storage environment, and the meteorological data acquisition device at the top can provide meteorological data for the automatic takeoff of the unmanned aerial vehicle.
9. The hangar ensures that each device in the hangar can normally operate by customizing the integrated controller, and has strong fault-tolerant performance.
Drawings
FIG. 1 is a schematic view of the external structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a schematic view of the parking chamber according to the present invention;
FIG. 4 is a schematic view of the internal structure of the parking chamber of the present invention;
FIG. 5 is a schematic view of an unmanned aerial vehicle landing gear;
FIG. 6 is a bottom view of an unmanned aerial vehicle landing gear;
wherein,
1 hangar, 11 top solar panel covers, 12 hangar middle clapboards, 13 spring relays, 14 backup chargers, 141 backup charger cathodes, 142 backup charger anodes, 15 meteorological data acquisition devices, 16 shutdown room doors and 161 bolt connecting holes; 2, stopping the machine room; 3 moving the apron, 31 gear guide groove, 32 multifunctional stopper II, 33 moving apron bottom plate, 34 image recognition cameras, 341 image recognition mark points, 35 laser positioner, 36 sealing screw guide groove, 37 moving apron upper cover plate, 371 image recognition camera port and 372 laser positioner port; 4, fixing an apron, 41, fixing an upper cover plate of the apron, 42, fixing an apron bottom plate, 421, a screw motor mounting box, 43, a screw guide groove, 44, a first multifunctional limiter, 441, a pressure sensor, 442, an automatic charger, 443, a screw guide hole, 45, a 46 screw, 47 standby charger current-carrying sheets, 48 charger current-carrying sheets and 49 pressure sensor sheets; 5, a bottom control room, 51 integrated controllers, 52 communicators, 53 hangar power supply devices and 54 environment controllers; 6 left and right sliding doors, 61 gears, 62 gear motors and 63 racks; 7, a hangar connector; 8, a central door post of the hangar, and 81 constant temperature modules; 9 outer door columns of the hangar and 91 door column rotating motors.
Detailed Description
For better understanding of the present invention, the technical solutions and effects of the present invention will be described in detail by the following embodiments with reference to the accompanying drawings.
Example 1
As shown in fig. 1-6, a precise recovery on-duty unmanned aerial vehicle hangar is composed of a top solar panel cover 11, a hangar outer side door post 9, left and right sliding doors 6, a plurality of parking rooms 2 and a bottom layer control room 5, wherein a meteorological data acquisition device 15 is installed on the top solar panel cover 11;
the unmanned aerial vehicle hangar 1 comprises a plurality of parking rooms 2 which can be arranged into a single layer or multiple layers according to actual requirements, each layer of parking room is separated by a hangar middle partition plate 12, each layer can be provided with four independent parking rooms 2, each parking room 2 works independently and the number of the parking rooms 2 can be adjusted according to the actual requirements; at most two unmanned aerial vehicles can be simultaneously lifted and landed in each layer of the parking room 2, namely the number of unmanned racks simultaneously lifted and landed in each layer of the unmanned aerial vehicle garage 1 is one half of the total number of the parking rooms; the parking room 2 comprises fixed parking apron 4, removal parking apron 3 and parking room door 16, and parking room door 16 has constituted the front and back side door of unmanned aerial vehicle hangar 2, through the high strength hinge connection on the hangar outside gatepost 9 on the unmanned aerial vehicle hangar 1. Eight two-layer parking rooms 2 are arranged in the embodiment, and at most 4 unmanned aerial vehicles can take off simultaneously at each time.
Every two storeys of the parking rooms of the hangar 1 are connected through a hangar central door post 8 and two hangar outer side door posts 9 through a hangar connector 7, two door post rotating motors 91 are embedded in each hangar outer side door post 9, and power lines and signal lines of the two storehouses are also embedded in the hangar outer side door posts 9. Spring relay 13 and stand-by charger 14 are installed to hangar intermediate bottom 12 and top solar panel lid 11 bottom surface, install on the stand-by charger 14 that positive and negative electrode slice connects the stand-by charger charged piece 47 at next layer unmanned aerial vehicle top and charge for unmanned aerial vehicle, and this charging mode is contact charging, for this hangar 1's stand-by charging mode.
The fixed parking apron 4 is in bolted connection with the fixed parking apron 4 through a bolt connecting hole 161 at the bottom of the parking apron door 16, the fixed parking apron 4 is of a hollow structure consisting of a fixed parking apron upper cover plate 41 and a fixed parking apron bottom plate 42, wherein the upper part of one side, away from the parking apron door 16, of the fixed parking apron upper cover plate 41 is rounded to obtain an inclined round angle, so that the unmanned aerial vehicle is not blocked when recovered, a multifunctional stopper I44 is installed on the fixed parking apron 4, two side surfaces of the fixed parking apron upper cover plate 41 are respectively provided with a lead screw guide groove 43, the lead screw guide grooves 43 are used for installing a lead screw motor 45 and a lead screw 46 and driving the multifunctional stopper I44 to move back and forth, a pressure sensor 441 and an automatic charger 442 are arranged on the surface of the fixed parking apron 4, the pressure sensor 441 measures a pressure value through a pressure sensor sheet 49 on the unmanned aerial vehicle, and the automatic charger 442, as shown in FIG. 3, the parking chamber door 16 and the first multi-function stop 44 are disassembled from the stationary apron 4, shown separately, for ease of identification; the bottom plate 42 of the fixed parking apron is an L-shaped plate, and a lead screw motor 45 and a lead screw 46 are arranged at the center and two side edges of the vertical part and used for telescopically moving the parking apron 3. In the embodiment, the pressure sensor adopts a film pressure sensor probe + HX711 module.
The movable parking apron 3 is of a hollow structure consisting of a movable parking apron bottom plate 33 and a movable parking apron upper cover plate 37, the interior of the movable parking apron 3 is used for placing a laser locator 35 and an image recognition camera 34 and arranging a power line and a signal line, the movable parking apron upper cover plate 37 is provided with an image recognition camera port 371 and a laser locator port 372 which correspond to the movable parking apron upper cover plate, and the movable parking apron 3 is provided with a second multifunctional stopper 32; a sealing lead screw guide groove 36 is arranged in the middle of the bottom plate 33 of the movable parking apron along the front-back direction and is matched with a lead screw 46 at the center of the fixed parking apron 4; two sides of the upper cover plate 37 of the movable parking apron are provided with gear guide grooves 31, racks 63 are arranged in the gear guide grooves 31 to form a movable channel, two sides of the bottom of the second multifunctional stopper 32 are respectively provided with a gear motor 62 connected with a gear 61, and the gear motor 62 is matched with the racks 63 and used for driving the second multifunctional stopper 32 to move; the screw motor 45 is installed in the screw motor installation box 421 through a screw guide hole 443 formed in the multifunctional limiter 44.
The other both sides of unmanned aerial vehicle hangar 1 are left and right sliding door 6, install the sliding motor below the door and be used for driving opening and closing of left and right side sliding door 6, and the left and right sliding door 6 of every side all has two doors, and one of them door slides to another door one side when opening or closing.
The bottom control room 5 is internally provided with a comprehensive controller 51, a communicator 52, an environment controller 54 and a hangar power device 53, the hangar power device 53 leads out positive and negative power lines to be connected with the comprehensive controller 51, the communicator 52 and the environment controller 54, and the comprehensive controller 51 leads out a signal line to be connected with the environment controller 54, the communicator 52 and the hangar power device 53; the integrated controller 51 is also electrically connected with a door post rotating motor 91, a lead screw motor 45, a gear motor 62, an environment controller 54, a pressure sensor 441 and an automatic charger 442. In the embodiment, the integrated controller 51 is a custom-made integrated controller based on a module M251 of schneider electric company, the communicator 52 is an industrial-grade C20 dual-serial-port radio station, and the environment controller 54 is controlled by shortcut temperature.
The use method of the accurate recovery unmanned aerial vehicle hangar is as follows:
(1) accurate recovery and automatic charging process of unmanned aerial vehicle
The unmanned aerial vehicle needs to land, the unmanned aerial vehicle flies to control and starts the automatic landing procedure, the procedure firstly searches the idle accurate recovery guard unmanned aerial vehicle hangar nearby automatically in the communication link network, screens the hangar 1 with the nearest distance, sends a communication instruction to establish the real-time communication local area network between the two, at this time, the hangar 1 starts a certain parking room 2 inside, firstly, the hangar 1 transmits the coordinates of the parking room to the unmanned aerial vehicle in real time, then, the parking room 2 starts to act, one door of the sliding doors 6 at the left side and the right side of the hangar 1 moves to the other side under the drive of the sliding motor, the door post rotating motor 91 drives the parking room door 16 to rotate by more than ninety degrees and less than one hundred eighty degrees, then, the lead screw motor 45 in the fixed parking apron 4 is started, the lead screw 46 is driven to move the parking apron 3 to the motion limit, the unmanned aerial vehicle is positioned to the coordinate point transmitted by the hangar 1 through the positioner carried by, the hangar 1 starts switches of an image recognition camera 34 and a laser locator 35 to locate image recognition identification points 341 on the landing gear of the unmanned aerial vehicle, makes a position difference between algorithm judgments through an integrated controller 51, transmits instructions to a gate post rotating motor 91 and a lead screw motor 45 on a fixed parking apron 4, the gate post rotating motor 91 and the lead screw motor 45 act to make the fixed parking apron 4 perform position adjustment between 45 and 180 degrees, the mobile parking apron 3 performs adjustment within the range of self movable length until the four image recognition identification points 341 are uniformly distributed around the central position of the mobile parking apron 3, and the communicator 52 transmits instructions to the unmanned aerial vehicle which continues to land until the unmanned aerial vehicle lands to the central position;
when the unmanned aerial vehicle falls onto the movable parking apron 3, the switches of the laser positioner 35 and the image recognition camera 34 are turned off, the gear motor 62 on the second multifunctional stopper 32 is started to drive the second multifunctional stopper 32 to push the unmanned aerial vehicle to move inwards, meanwhile, a screw motor 45 in the fixed parking apron 4 is started to drive the movable parking apron 3 to move inwards, and the unmanned aerial vehicle also moves inwards, and a screw motor 45 for fixing the side surface of the parking apron 4 is arranged synchronously, the screw motor 45 drives a first multifunctional limiting stopper 44 to move outwards, the movable parking apron 3 stops after moving to the self retraction limit, the first multifunctional limiting stopper 44 and a second multifunctional limiting stopper 32 stop after moving to the value set by the program, the value is to ensure that the unmanned aerial vehicle is positioned at the central position of the fixed parking apron after the mobile parking apron is contracted, so that the standby charger 14 can conveniently charge the unmanned aerial vehicle; at this time, the pressure sensor 441 is started to detect the pressure between the first multifunctional stopper 44 and the second multifunctional stopper 32 and the undercarriage of the unmanned aerial vehicle, and the two judge whether the pressure is within a set pressure range according to the measured pressure values, wherein the pressure range value is a range value which is experimentally measured and can ensure that the unmanned aerial vehicle is charged, if the pressure is not within the set pressure range, the integrated controller 51 continues to adjust the positions of the first multifunctional stopper 44 and the second multifunctional stopper 32 until the set pressure range is reached, when the pressure range is reached, the automatic charger 442 is completely attached to the automatic charging sheet 48 on the undercarriage of the unmanned aerial vehicle, the electric energy can be conducted, and the integrated controller 51 starts the automatic charger 442 to charge the unmanned aerial vehicle; when the mobile parking apron 3 moves to the limit, the gate post rotating motor 91 is started to drive the fixed parking apron 4 to rotate into the hangar 1, and then the left and right sliding doors 6 slide to the original positions, so that the landing process of the unmanned aerial vehicle is completed;
(2) unmanned aerial vehicle take-off process
When the unmanned aerial vehicle takes off, the integrated controller 51 firstly detects which unmanned aerial vehicle in the parking room is in a standby state, the battery power is sufficient to meet the take-off requirement, then transmits an instruction to the parking room 2, the parking room 2 is started, one sliding door 6 on the left side and the right side is driven by a sliding motor to be opened and slide to the other sliding door, the door post rotating motor 91 rotates the fixed parking apron 4 and the movable parking apron 3 for 90 degrees and then stops, the movable parking apron 3, the first multifunctional stopper 44 and the second multifunctional stopper 32 are simultaneously started, the unmanned aerial vehicle is moved to the movable parking apron 3, the unmanned aerial vehicle reaches the outside of the hangar 1 at the moment, the integrated controller 51 transmits the prepared instruction to the unmanned aerial vehicle through the communicator 52, the unmanned aerial vehicle starts the unmanned aerial vehicle after receiving the flight control take-off instruction, and after the unmanned aerial vehicle, the movable parking apron 3, the first multifunctional stopper 44 and the second multifunctional stopper 32 are simultaneously started, the movable parking apron 3 stops moving after moving to the limit of the movable parking apron, the first multifunctional limiting stopper 44 moves to the innermost side of the fixed parking apron 4, the second multifunctional limiting stopper 32 moves to the outermost side of the movable parking apron 3, then the gate post rotating motor 91 is started, the parking room 2 is rotated into the garage 1, the left sliding door 6 and the right sliding door 6 slide to the original positions from the other sides to block the garage 1, the takeoff process of the unmanned aerial vehicle is completed at the moment, and then the garage 1 enters a standby state.
Example 2
This embodiment sets up the exact structure of retrieving on duty unmanned aerial vehicle hangar the same with embodiment 1's, and the difference lies in that the mode that charges for unmanned aerial vehicle is different. When the automatic charger 442 on the multifunctional stopper 44 is detected by the integrated controller 51 that the abnormal condition can not normally charge for the unmanned aerial vehicle, the hangar 1 adopts the standby charging mode to charge for the unmanned aerial vehicle, install spring relay 13 and standby charger 14 on hangar intermediate bottom plate 12 and the top solar panel lid bottom surface 11, the standby charger negative pole 141 and the standby charger positive pole 142 of installation on the standby charger 14 connect the standby charger powered piece 47 at the top of the unmanned aerial vehicle to charge for the unmanned aerial vehicle, and this charging mode is the contact charging. When the steady descending of unmanned aerial vehicle, remove air park 3 and move to self limit after, gatepost rotating electrical machines 91 starts, drive the inside of fixed air park 4 rotatory income hangar 1, later left and right side sliding door 6 slides to the original position, spring relay 13 starts this moment, spring relay 13's flexible length is greater than the length of unmanned aerial vehicle top electroplax, promptly after contacting unmanned aerial vehicle top charging panel, still can be continuing the distance of down motion 3 centimetres, guarantee that the positive 142 of reserve charger and the reserve charger at unmanned aerial vehicle top receive the contact of point piece 47 and circular telegram, comprehensive controller 51 starts hangar power supply unit 53 and charges for unmanned aerial vehicle after the contact is good. In this embodiment, the operation principle except for this charging method is the same as that of embodiment 1.
Example 3
The difference between the present embodiment and embodiment 1 is that, on the basis of embodiment 1, a constant temperature module 81 is further installed on the outer wall of the hangar center door post 8, and the rest of the structural arrangement and the use method are the same as those of embodiment 1. The constant temperature module 81 of the present embodiment selects a mini-type air conditioner of a hangar with TCL air conditioning fan refrigerator as a basic model improvement. In unmanned aerial vehicle accurate recovery to hangar 1, when hangar 1 seals completely, the inside environmental controller 54 of hangar 1 starts, detects the inside environmental index of hangar 1, transmits the data that detect simultaneously for integrated controller 51, and integrated controller 51 compares current data and the inside core part of unmanned aerial vehicle suitably stores the temperature value, judges whether need start hangar constant temperature module 81. When needs adjust the temperature, integrated control 51 starts constant temperature module 81, suitably stores the internal environment in temperature value processor storehouse according to the inside core part of unmanned aerial vehicle. In this embodiment, the operation principle except the arrangement of the constant temperature module 81 is the same as that of embodiment 1.
Claims (5)
1. The utility model provides an accurate recovery on duty unmanned aerial vehicle hangar which characterized in that: the system consists of a top solar panel cover, a garage outer side door post, left and right sliding doors, a plurality of parking rooms and a bottom control room, wherein a meteorological data acquisition device is arranged on the top solar panel cover; the unmanned aerial vehicle hangar comprises a plurality of parking rooms, each parking room consists of a fixed parking apron, a movable parking apron and a parking room door, the parking room doors form front and rear side doors of the unmanned aerial vehicle hangar and are connected to the unmanned aerial vehicle hangar through high-strength hinges on door posts on the outer side of the hangar, the fixed parking apron is connected to the bottom of the parking room door through bolts, a first multifunctional stopper is installed on the fixed parking apron, a second multifunctional stopper is installed on the movable parking apron, an automatic charger is installed on the first multifunctional stopper and can automatically charge the unmanned aerial vehicle, and the charging mode is contact charging; the other two sides of the unmanned aerial vehicle hangar are left and right sliding doors, and sliding motors are arranged below the doors; the comprehensive controller, the communicator, the environment controller and the hangar power device are arranged in the bottom control room, the hangar power device provides power for the comprehensive controller, the communicator and the environment controller, and the comprehensive controller controls the environment controller, the communicator, the hangar power device and the automatic charger through signal lines;
the parking rooms can be arranged into a single layer or multiple layers according to actual requirements, the parking rooms of every two layers are separated by a garage intermediate partition, four independent parking rooms can be placed in each layer, and each layer of parking room can simultaneously take off and land 2 unmanned aerial vehicles at most each time, namely the number of unmanned racks which simultaneously take off and land each time of the unmanned aerial vehicle garage is one half of the total number of the parking rooms;
each two parking rooms are connected by a garage center door post and two garage outer side door posts, each door post is used for fixing each parking room through a connector, two door post rotating motors are embedded in each garage outer side door post, and power lines and signal lines of the door posts are also embedded in the garage outer side door posts and are electrically connected with the integrated controller;
the fixed parking apron is of a hollow structure consisting of an upper fixed parking apron cover plate and a bottom fixed parking apron plate, wherein the upper part of one side, away from a parking room door, of the upper fixed parking apron cover plate is rounded to obtain an inclined fillet, so that an unmanned aerial vehicle is not blocked when being recovered, two side surfaces of the upper fixed parking apron cover plate are respectively provided with a lead screw guide groove for mounting a small lead screw motor and a lead screw and driving a first multifunctional stopper to move back and forth, and a pressure sensor is arranged on the surface of the first multifunctional stopper and electrically connected with the integrated controller; the bottom plate of the fixed parking apron is an L-shaped plate, and a screw motor and a screw are arranged at the center and two side edges of the vertical part and used for stretching and moving the parking apron; the screw motor is electrically connected with the integrated controller;
the mobile parking apron is a hollow structure consisting of a mobile parking apron bottom plate and a mobile parking apron upper cover plate, a laser positioner, an image recognition camera, a power line and a signal line are arranged in the mobile parking apron, and the mobile parking apron upper cover plate is provided with an opening corresponding to the mobile parking apron upper cover plate; a sealing lead screw guide groove is arranged in the middle of the bottom plate of the movable parking apron along the front-back direction and is matched with a lead screw at the center of the fixed parking apron; and gear guide grooves are reserved on two sides of the upper cover of the movable parking apron, racks are arranged in the gear guide grooves to form a movable channel, gears driven by a gear motor and a gear motor are respectively arranged on two sides of the bottom of the second multifunctional stopper, the gears are matched with the racks and used for driving the second multifunctional stopper to move, and the gear motor is electrically connected with the comprehensive controller.
2. The precision recovery on-duty unmanned aerial vehicle hangar of claim 1, wherein: each parking room works independently and the number of the parking rooms can be adjusted according to actual requirements.
3. The precision recovery on-duty unmanned aerial vehicle hangar of claim 2, wherein: spring relay and stand-by charger are installed to hangar intermediate bottom and top solar panel lid bottom surface, install the stand-by charger charged piece that positive and negative electrode slice connection next layer unmanned aerial vehicle top on the stand-by charger and charge for unmanned aerial vehicle, and this charging mode is the contact charging, for the stand-by charging mode in this hangar.
4. The precision recovery on-duty unmanned aerial vehicle hangar of claim 1, wherein: and a constant temperature module is installed on the outer wall of the central door post of the hangar.
5. The use method of the precision recovery on-duty unmanned aerial vehicle hangar of any one of claims 1 to 4 is as follows:
(1) accurate recovery and automatic charging process of unmanned aerial vehicle
When an unmanned aerial vehicle is about to land, an automatic landing program is started through flight control, a hangar at the closest distance is screened, a real-time communication local area network between the hangar parking room and the unmanned aerial vehicle is established, positions of the hangar parking room and the unmanned aerial vehicle are determined mutually, sliding doors on the left side and the right side are opened, the parking room starts to act, a mobile parking apron is exposed outside, when 4 image identification points of the unmanned aerial vehicle are uniformly distributed around the central position of the mobile parking apron, a communicator transmits an instruction to the unmanned aerial vehicle, the unmanned aerial vehicle accurately lands at the central position, then the mobile parking apron is withdrawn and aligned and charges the unmanned aerial vehicle through a first multifunctional limiter and a first multifunctional limiter, the sliding doors on the left side and the right side, and the unmanned aerial vehicle accurately recovers;
(2) unmanned aerial vehicle take-off process
When unmanned aerial vehicle will take off, integrated controller gives the cab of parking at unmanned aerial vehicle place that can take off with the instruction transmission, and the sliding door is opened to the left and right sides, and the cab starts, moves the outside to the hangar when unmanned aerial vehicle, and integrated controller transmits the order that allows to take off for unmanned aerial vehicle through the communicator, and unmanned aerial vehicle flies to control and starts unmanned aerial vehicle after accepting the order, and the cab of parking and the sliding door of the left and right sides are returned to the normal position after unmanned aerial vehicle takes off, and the hangar gets into standby state.
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| CN112706937B (en) * | 2020-04-08 | 2022-03-22 | 江苏方天电力技术有限公司 | Flexible and accurate autonomous take-off and landing device for unmanned aerial vehicle and control method |
| CN112061412B (en) * | 2020-08-11 | 2024-08-09 | 上海丰溱科技有限公司 | Unmanned aerial vehicle intelligent hangar suitable for multiple installation demands |
| CN112078814A (en) * | 2020-09-24 | 2020-12-15 | 广州市港航工程研究所 | Unmanned aerial vehicle start-stop control method, system, equipment and storage medium |
| CN112379683A (en) * | 2020-11-19 | 2021-02-19 | 普宙飞行器科技（深圳）有限公司 | Unmanned aerial vehicle take-off and landing control system and method |
| CN112607026B (en) * | 2020-12-30 | 2022-04-01 | 山东省科学院海洋仪器仪表研究所 | Automatic recovery and release device and method for multi-rotor unmanned aerial vehicle |
| CN113313852A (en) * | 2021-05-26 | 2021-08-27 | 徐州新电高科电气有限公司 | Unmanned aerial vehicle system of patrolling and examining |
| CN113552900B (en) * | 2021-07-23 | 2023-03-28 | 中国科学院地理科学与资源研究所 | Unmanned aerial vehicle intelligence hangar |
| CN113602515B (en) * | 2021-08-04 | 2023-06-30 | 陈铭根 | Outdoor small-size patrol unmanned aerial vehicle puts in and retrieves storage device |
| CN113525707B (en) * | 2021-09-07 | 2023-02-03 | 江苏功业互联科技有限公司 | But solar charging formula unmanned aerial vehicle hangar device |
| CN113605768B (en) * | 2021-09-14 | 2023-06-09 | 江苏功业互联科技有限公司 | Can hold intelligent three-dimensional hangar of many sizes unmanned aerial vehicle |
| CN114348289B (en) * | 2022-02-14 | 2023-11-14 | 唐本平 | Vertical closed logistics unmanned aerial vehicle parking device |
| CN114967759B (en) * | 2022-07-19 | 2023-07-04 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle inspection system aiming at defect identification of oil-gas station equipment |
| CN116923762A (en) * | 2023-09-18 | 2023-10-24 | 众芯汉创(江苏)科技有限公司 | Deposit, examine, manage integrative integrated intelligent hangar system |
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| US7954758B2 (en) * | 2006-08-24 | 2011-06-07 | Aerovel Corporation | Method and apparatus for retrieving a hovering aircraft |
| CN106275480A (en) * | 2016-07-25 | 2017-01-04 | 曾庆月 | Protection and energy supply device cabin are hidden in the transmitting-receiving of the safety of the intelligence of a kind of unmanned plane |
| CN107776906A (en) * | 2016-08-25 | 2018-03-09 | 浙江中辰空航智能科技有限公司 | A kind of solar energy unmanned plane hangar device |
| CN107176047A (en) * | 2017-05-27 | 2017-09-19 | 先测电子科技（上海）有限公司 | A kind of unmanned plane shuts down storehouse |
| CN109733630A (en) * | 2019-02-27 | 2019-05-10 | 三一汽车制造有限公司 | Unmanned hangar and fire fighting truck |
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