CN110871905A - Lifting parking lot for logistics unmanned aerial vehicle and control method thereof - Google Patents
Lifting parking lot for logistics unmanned aerial vehicle and control method thereof Download PDFInfo
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- CN110871905A CN110871905A CN201811005943.8A CN201811005943A CN110871905A CN 110871905 A CN110871905 A CN 110871905A CN 201811005943 A CN201811005943 A CN 201811005943A CN 110871905 A CN110871905 A CN 110871905A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/32—Ground or aircraft-carrier-deck installations for handling freight
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Abstract
The invention discloses a lifting parking lot for a logistics unmanned aerial vehicle and a control method thereof, wherein the device comprises a parking apron platform with a parking area at the center, a righting mechanism for adjusting the plane position and posture of the logistics unmanned aerial vehicle on the parking apron platform, and a lifting mechanism for driving the parking apron platform to move up and down in a cavity of the airport; the righting mechanism comprises two push plates which are arranged on the upper surface of the parking apron and positioned on the front side and the rear side of the parking area and driven to move forwards and backwards in opposite directions and two push blocks which are arranged on the upper surface of the parking apron and positioned on the left side and the right side of the parking area and driven to move left and right in opposite directions; the lifting mechanism comprises two lead screw lifting mechanisms and a guide module used for guiding the lead screw lifting mechanisms to move, lead screws of the two lead screw lifting mechanisms are respectively and vertically installed at the left central position and the right central position of the parking platform, nuts of the lead screw lifting mechanisms are fixedly connected with the parking platform, and the control method can store and protect the parked logistics unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a lifting parking lot for a logistics unmanned aerial vehicle and a control method thereof.
Background
Along with the development of unmanned aerial vehicle in each trade, the problem that relates to the unmanned aerial vehicle and use is also more and more, especially to commodity circulation unmanned aerial vehicle's the problem of accomodating, general attention of everybody has been aroused, the airport that commodity circulation unmanned aerial vehicle parked in the transportation, because the requirement of land area and accuracy of stopping, the requirement that stops to commodity circulation unmanned aerial vehicle is just than higher, unmanned aerial vehicle accomodates only to stop unmanned aerial vehicle in the top at the airport at present, if there are other unmanned aerial vehicle or other mechanical equipment operation in same airport under this condition, can cause collision or friction to the unmanned aerial vehicle that stops very easily, cause the damage of the unmanned aerial vehicle that stops, and, each unmanned aerial vehicle area is big, lead to the airport cost ratio higher.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a small-volume lifting and stopping airport for the logistics unmanned aerial vehicle, which has the main functional advantages of storage and protection of the stopped logistics unmanned aerial vehicle.
Another object of the present invention is to provide a method of housing a logistics drone.
The invention is realized by the following technical scheme:
a lifting parking lot for a logistics unmanned aerial vehicle comprises a parking platform with a parking area at the center, a righting mechanism for adjusting the plane position and posture of the logistics unmanned aerial vehicle on the parking platform, and a lifting mechanism for driving the parking platform to move up and down in a cavity of the airport;
the righting mechanism comprises two push plates which are arranged on the upper surface of the parking apron and positioned on the front side and the rear side of the parking area and driven to move front and rear in opposite directions and two push blocks which are arranged on the upper surface of the parking apron and positioned on the left side and the right side of the parking area and driven to move left and right in opposite directions;
the lifting mechanism comprises two lead screw lifting mechanisms and a guide module for guiding the lead screw lifting mechanisms to move, lead screws of the two lead screw lifting mechanisms are respectively and vertically arranged at the left central position and the right central position of the parking pad platform, and nuts of the lead screw lifting mechanisms are fixedly connected with the parking pad platform.
In the technical scheme, the logistics unmanned aerial vehicle is a multi-rotor logistics unmanned aerial vehicle.
In the technical scheme, the airport righting mechanism further comprises two first lead screw driving mechanisms extending left and right and two second lead screw driving mechanisms extending front and back, the two first lead screw driving mechanisms are arranged on the upper surface of the parking apron platform and used for driving the push plate, the two second lead screw driving mechanisms are arranged on the lower bottom surface of the parking apron platform and used for driving the push block, the parking apron platform is provided with two limiting holes, and the push block extends to the long surface from the limiting holes to be in contact with the cargo bin.
In the technical scheme, the guide module is a guide rod which is vertical correspondingly and penetrates through the parking platform, the parking platform is provided with a guide hole corresponding to the guide rod, and a guide sleeve is inserted in the guide hole.
In the technical scheme, the airport is composed of a plurality of section bars and forms the chamber for containing the parking platform and the logistics unmanned aerial vehicle.
In the technical scheme, the airport is provided with a support cross beam frame used for fixing the screw rod lifting mechanism and the guide rod at the left end and the right end of the parking apron platform.
In the technical scheme, the push block is provided with a charging connector.
A control method of a lifting parking lot for a logistics unmanned plane comprises the following steps:
1) driving the parking platform to rise;
2) detecting that the logistics unmanned aerial vehicle lands on the parking apron;
3) driving a position correcting mechanism to enable the logistics unmanned aerial vehicle to move to the central position of the parking area;
4) the parking platform is driven to land.
The invention has the advantages and beneficial effects that:
1. according to the invention, the logistics unmanned aerial vehicle is adjusted to the central position of the parking apron platform, so that the logistics unmanned aerial vehicle can be conveniently stored, the lifting mechanism can lift the logistics unmanned aerial vehicle with the adjusted position to an inner cavity of a storage airport, and the logistics unmanned aerial vehicle is prevented from being damaged by touching the logistics unmanned aerial vehicle when other logistics unmanned aerial vehicles stop at the airport or are mechanically operated, and the structure is simple and the use is convenient. Further, cargo can be loaded and unloaded in the storage state.
2. According to the method for containing the logistics unmanned aerial vehicle, the logistics unmanned aerial vehicle can be contained in the inner cavity of the airport, and when the logistics unmanned aerial vehicle needs to take off, the lifting mechanism can lift the logistics unmanned aerial vehicle to the same plane of the airport, so that the logistics unmanned aerial vehicle can take off conveniently, and the use is convenient.
Drawings
Fig. 1 is a side schematic view of an airport righting mechanism of a lift-stop airport for a logistics unmanned aerial vehicle according to the present invention.
Fig. 2 is a schematic diagram of an airport righting mechanism of a lift-stop airport for a logistics unmanned plane.
Fig. 3 is a schematic diagram of the overall mechanism of a logistics unmanned plane elevator parking lot.
Wherein:
1: righting mechanism, 1-1: blade righting mechanism, 1-1-1: paddle position detection mechanism, 1-1-1-1: magnetic ring, 1-1-1-2: hall sensor, 1-1-1-3: circuit board, 1-2: airport positioning mechanism, 1-2-1: push plate, 1-2-2: a push block, 1-2-3: first screw drive mechanism, 1-2-4: a second screw drive mechanism, 1-2-5: limiting hole, 2: lifting mechanism, 2-1: screw rod elevating system, 2-2: guide module, 2-2-1: guide bar, 2-2-2: pilot hole, 2-2-3: guide sleeve, 3: parking apron, 4: inner cavity, 5: and supporting the cross beam frame.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the present invention is further described below with reference to specific examples.
Example 1
A lifting parking lot for a logistics unmanned aerial vehicle comprises a parking platform (3) with a parking area at the center, a righting mechanism (1) for adjusting the plane position and posture of the logistics unmanned aerial vehicle on the parking platform, and a lifting mechanism (2) for driving the parking platform to move up and down in a cavity of the airport;
the righting mechanism 1-2 comprises two push plates 1-2-1 which are arranged on the upper surface of the parking platform 3 and positioned on the front side and the rear side of the parking area and driven to move forward and backward in opposite directions and two push blocks 1-2-2 which are arranged on the upper surface of the parking platform 3 and positioned on the left side and the right side of the parking area and driven to move left and right in opposite directions;
wherein, elevating system 2 and parking apron 3 are connected and reciprocate in order to be used for driving parking apron 3, and the inside at airport is provided with inner chamber 4 that is used for holding commodity circulation unmanned aerial vehicle, and parking apron 3 sets up in inner chamber 4's top in order to be used for placing commodity circulation unmanned aerial vehicle at inner chamber 4.
According to the invention, the logistics unmanned aerial vehicle is adjusted to the central position of the parking apron 3, so that the logistics unmanned aerial vehicle can be conveniently stored in the cavity 4, the lifting mechanism 2 can lift the logistics unmanned aerial vehicle with the adjusted position to an inner cavity of a storage airport, the logistics unmanned aerial vehicle is prevented from being damaged by touching the logistics unmanned aerial vehicle during other mechanical operations, the structure is simple, and the use is convenient.
The airport positioning mechanism 1-2 further comprises two first lead screw driving mechanisms 1-2-3 and two second lead screw driving mechanisms 1-2-4 which are symmetrically arranged by taking the front center line and the rear center line of the parking apron 3 as the reference, the two first lead screw driving mechanisms 1-2-3 which are symmetrically arranged by taking the left center line and the right center line of the parking apron 3 as the reference are arranged on the upper surface of the apron body and used for driving the push plate 1-2-1, the two second lead screw driving mechanisms 1-2-4 are arranged on the lower bottom surface of the apron body and used for driving the push block 1-2-2, the parking apron 3 is provided with two limiting holes 1-2-5, and the push block 1-2-2 is limited in the limiting holes 1-2-5.
In order to ensure the righting condition of the logistics unmanned aerial vehicle, a stopping pad 3 is provided with a limiting mechanism for ensuring the righting condition of the logistics unmanned aerial vehicle, the limiting mechanism comprises two first position sensors respectively arranged on two first screw rod driving mechanisms 1-2-3 and two second position sensors respectively arranged on two second screw rod driving mechanisms 1-2-4, the two first position sensors and the two second position sensors are both in communication connection with a controller, wherein the two first position sensors are respectively used for limiting the initial positions of two ends of two push plates 1-2-1, the two push plates 1-2-1 can push the logistics unmanned aerial vehicle to realize front and back righting in the moving process, the limiting signals are transmitted to the controller, and the controller correspondingly stops the work of the first screw rod driving mechanisms 1-2-3 according to the received limiting signals, the two push plates 1-2-1 stop moving, then the controller controls the motors of the two second screw driving mechanisms 1-2-4 to start, the two second position sensors respectively detect position signals of the push blocks 1-2-2 of the two second screw driving mechanisms 1-2-4 (the two push blocks 1-2-2 can push the logistics unmanned aerial vehicle to realize left and right positive positions in the moving process, when the signals are triggered, the controller controls the motors of the two second screw driving mechanisms 1-2-4 to stop rotating, and the two push blocks 1-2-2 simultaneously stop moving), wherein the two first screw driving mechanisms 1-2-3 and the two second screw driving mechanisms 1-2-4 can both adopt ball screw driving mechanisms, wherein, the controller is a PLC controller.
Furthermore, a limiting mechanism is matched with the two first lead screw driving mechanisms 1-2-3 and the two second lead screw driving mechanisms 1-2-4 to be used for centering and righting the logistics unmanned aerial vehicle, so that the logistics unmanned aerial vehicle can be positioned at the center of the parking apron 3 to be convenient for being accommodated into an inner cavity of an airport.
Example 2
Based on embodiment 2, the lifting mechanism 2 includes two screw lifting mechanisms 2-1 and a guiding module 2-2 for guiding the lifting module to move, screws of the two screw lifting mechanisms 2-1 are respectively vertically installed at a left central position and a right central position of the parking pad 3, nuts of the screw lifting mechanisms 2-1 are fixedly connected with the parking pad 3, the guiding module 2-2 is a guiding rod 2-2-1 which is correspondingly vertical and penetrates through the parking pad 3, a guiding hole 2-2-2 corresponding to the guiding rod 2-2-1 is arranged on the parking pad 3, and a guiding sleeve 2-2-3 is inserted into the guiding hole 2-2-2, wherein the screw lifting mechanisms 2-1 include: the airport parking device comprises a motor, a lead screw and a lead screw nut meshed with the lead screw, wherein the lead screw is vertically arranged in an inner cavity 4 of an airport, the motor is in shaft connection with the lead screw, the motor is fixedly arranged on a supporting cross beam frame 5, one end of the lead screw is arranged on the supporting cross beam frame 5 through the motor, the other end of the lead screw penetrates through a parking apron platform 3 and is arranged on the inner side of the upper side surface of the airport, the lead screw nut is fixedly arranged on the lower bottom surface of the parking apron platform 3 and is used for driving the parking apron platform 3 to move up and down, and the. Wherein, the airport is set up by many section bar poles and is constituteed, forms the inner chamber that is used for accomodating commodity circulation unmanned aerial vehicle, and wherein, the tensile strength scope of each section bar pole is 80 ~ 100MPa so that it can bear the weight of parking apron platform 3, commodity circulation unmanned aerial vehicle etc.. And supporting cross beam frames 5 for fixing the lifting module and the guide rods 2-2-1 are arranged at the left end and the right end of the parking platform 3 of the airport. Four feet of the airport are fixedly arranged on the bottom surface through screws so as to avoid the situation of shaking or inclining in the lifting process of the parking apron 3.
Further, the guide module 2-2 comprises four guide rods 2-2-1 which are respectively placed at four corners of the supporting cross beam frame 5, one end of each guide rod 2-2-1 is fixedly installed on the supporting cross beam frame 5, and the other end of each guide rod 2-2-1 penetrates through the parking apron 3 and is fixedly installed on the inner side of the upper side face of the airport so as to guide the parking apron 3 to move up and down; four corners of the parking apron 3 are provided with guide holes 2-2-2, guide sleeves 2-2-3 are inserted into the guide holes 2-2-2, the guide rods 2-2-1 penetrate through the guide sleeves 2-2-3 to be connected with the parking apron 3 in a sliding mode, and the guide sleeves 2-2-3 are in clearance fit with the guide rods 2-2-1 to be used for preventing the situation that the parking apron 3 inclines or cannot move due to the fact that the parking apron 3 is clamped between the parking apron 3 and the guide rods 2-2-1 in the up-and-down moving process of the parking apron 3.
The specific implementation mode is as follows: the guide sleeves 2-2-3 are inserted into the guide holes 2-2-2 and fixedly mounted with the guide holes 2-2-2, the guide rods 2-2-1 are fixedly mounted at four corners of the supporting cross beam frame 5, four feet of the parking apron 3 are sleeved on the guide rods 2-2-1 through the guide sleeves 2-2-3, the controller controls the motor to rotate to drive the parking apron 3 to move up and down, and the guide rods 2-2-1 can ensure that the parking apron 3 vertically moves up and down to avoid the inclination of the parking apron 3 in the up and down moving process.
Example 3
Based on embodiment 2, a method for accommodating a logistics unmanned aerial vehicle comprises the following steps:
1) driving the parking platform to lift up the logistics unmanned aerial vehicle which is ready to land;
2) detecting that the logistics unmanned aerial vehicle lands on the parking platform,
3) driving a position correcting mechanism to enable the logistics unmanned aerial vehicle to move to the central position of the parking area; the position adjustment is completed in the lifting state, so that the space occupation and the interference with other parts can be avoided when the landing is carried out subsequently;
4) the parking platform is driven to land, and charging or cargo loading and unloading operation can be carried out when the parking platform lands to a specified position.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (8)
1. A lifting parking lot for a logistics unmanned aerial vehicle is characterized by comprising a parking platform (3) with a parking area at the center, a righting mechanism (1) for adjusting the plane position and posture of the logistics unmanned aerial vehicle on the parking platform, and a lifting mechanism (2) for driving the parking platform to move up and down in a chamber of the airport;
the righting mechanism comprises two push plates (1-2-1) which are arranged on the upper surface of the parking platform (3) and are positioned on the front side and the rear side of the parking area and driven to move forward and backward in opposite directions and two push blocks (1-2-2) which are arranged on the upper surface of the parking platform (3) and are positioned on the left side and the right side of the parking area and driven to move left and right in opposite directions;
the lifting mechanism (2) comprises two lead screw lifting mechanisms (2-1) and a guide module (2-2) for guiding the lead screw lifting mechanisms (2-1) to move, lead screws of the two lead screw lifting mechanisms (2-1) are respectively vertically arranged at the left central position and the right central position of the parking apron platform (3), and nuts of the lead screw lifting mechanisms (2-1) are fixedly connected with the parking apron platform (3).
2. The lift and stop airport of claim 1, wherein said logistics drone is a multi-rotor logistics drone.
3. The logistics unmanned aerial vehicle elevating airport according to claim 1, wherein the airport righting mechanism (1-2) further comprises two first screw driving mechanisms (1-2-3) extending left and right and two second screw driving mechanisms (1-2-4) extending front and back, the two first screw driving mechanisms (1-2-3) are arranged on the upper surface of the airport platform (3) for driving the push plate (1-2-1), the two second screw driving mechanisms (1-2-4) are arranged on the lower bottom surface of the airport platform (3) for driving the push block (1-2-2), the airport platform (3) is provided with two limiting holes (1-2-5), the push block (1-2-2) to the limiting hole (1-2-5) extend to a long surface to be in contact with the cargo bin.
4. The logistics unmanned aerial vehicle elevator airport according to claim 1, wherein the guide module (2-2) is a guide rod (2-2-1) which is correspondingly vertical and penetrates through the airport apron platform (3), the airport apron platform (3) is provided with a guide hole (2-2-2) corresponding to the guide rod (2-2-1), and a guide sleeve (2-2-3) is inserted into the guide hole (2-2-2).
5. A logistics unmanned aerial vehicle elevator airport according to claim 4, wherein the airport is constructed of a plurality of profile bars and forms the chamber (4) for housing the parking apron and logistics unmanned aerial vehicle.
6. The logistics unmanned aerial vehicle elevating airport according to claim 1, wherein the airport is provided with a support cross frame (5) for fixing the screw elevating mechanism (2-1) and the guide bar (2-2-1) at the left and right ends of the parking platform (3).
7. The elevator airport of claim 1, wherein the push block is provided with a charging connector.
8. A method for controlling a logistics unmanned aerial vehicle elevator landing zone according to any of claims 1 to 7, comprising the steps of:
1) driving the parking platform to rise;
2) detecting that the logistics unmanned aerial vehicle lands on the parking apron;
3) driving a position correcting mechanism to enable the logistics unmanned aerial vehicle to move to the central position of the parking area;
4) the parking platform is driven to land.
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| CN201811005943.8A CN110871905A (en) | 2018-08-30 | 2018-08-30 | Lifting parking lot for logistics unmanned aerial vehicle and control method thereof |
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| CN201811005943.8A CN110871905A (en) | 2018-08-30 | 2018-08-30 | Lifting parking lot for logistics unmanned aerial vehicle and control method thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112706940A (en) * | 2020-12-25 | 2021-04-27 | 芜湖翼讯飞行智能装备有限公司 | Small-size shutdown system for logistics unmanned aerial vehicle and control method thereof |
| CN112960133A (en) * | 2021-04-07 | 2021-06-15 | 西安中通巡天科技有限公司 | Auxiliary landing device for actively grabbing parking apron of unmanned aerial vehicle |
| CN113212779A (en) * | 2020-07-21 | 2021-08-06 | 天津航天中为数据系统科技有限公司 | Unmanned aerial vehicle automatic charging unattended system |
| CN113320709A (en) * | 2021-05-08 | 2021-08-31 | 江苏阳铭互联智能系统有限公司 | Automatic power station that trades of unmanned aerial vehicle |
| CN115056702A (en) * | 2022-06-07 | 2022-09-16 | 北京机械设备研究所 | Automatic take-off and landing centering device of vehicle-mounted unmanned aerial vehicle |
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