CN111007866A - Marine unmanned aerial vehicle take-off and landing platform and working method thereof - Google Patents
Marine unmanned aerial vehicle take-off and landing platform and working method thereof Download PDFInfo
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Abstract
The invention discloses a marine unmanned aerial vehicle take-off and landing platform which is characterized by comprising a platform panel supporting plate, wherein a control unit, an electric power unit, a power supply unit and a microprocessor are arranged on the platform panel supporting plate, the electric power unit, the power supply unit and the microprocessor are electrically connected with the control unit, a group of supporting frames are arranged on the upward side of the platform panel supporting plate, the upper ends of the supporting frames are movably and fixedly connected with a take-off and landing platform panel, a group of electric push rods with fixed supporting legs are arranged on the downward side of the platform panel supporting plate, the upward top end part of each electric push rod is sequentially provided with a nine-axis attitude sensor and a universal joint, the universal joint is fixedly connected with the platform panel supporting plate in a hinged mode, the nine-axis attitude sensors are electrically connected with the microprocessor, the electric push. The platform has low cost and is convenient to carry and disassemble. The invention also discloses a working method of the unmanned aerial vehicle take-off and landing platform.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle take-off and landing platforms, in particular to a marine unmanned aerial vehicle take-off and landing platform and a working method thereof.
Background
At present, due to the high working intensity and heavy burden of the maritime affair law enforcement patrol task, the unmanned aerial vehicle is introduced to assist law enforcement based on the high working intensity and heavy burden. Unmanned aerial vehicle take off and land platform that appears in the existing market has the volume great, is unfavorable for fast disassembling and transport and is difficult to deal with the problem of jolting that maritime affairs law enforcement ship exists. So that there is a risk of the unmanned aerial vehicle taking off and landing.
The Chinese patent application No. 201711130116.7 discloses an unmanned aerial vehicle take-off and landing self-stabilization platform and a working method thereof, the technical scheme of the invention comprises a first supporting component, a second supporting component, a third supporting component, a first attitude detection module, a second attitude detection module and a control module, wherein the first supporting component, the second supporting component and the third supporting component are respectively connected with a click power system, a motor power system and a motor system, the first attitude insisting module is connected with a flight deck, the first supporting component, the second supporting component and the third supporting component, the second attitude detection module is connected with the first supporting component, the second supporting component and the third supporting component, the unmanned aerial vehicle take-off and landing platform does not follow the motions of shaking, rising and sinking and the like caused by the interference of ships due to the change of sea conditions, the horizontal position is kept in real time, and the difficulty and the danger of take-off and landing of the unmanned aerial vehicle due to the severe sea, the safety of unmanned aerial vehicle take-off and landing is greatly improved, and when this unmanned aerial vehicle takes off and lands from steady platform and uses on the maritime affairs law enforcement ship, because the influence of maritime affairs law enforcement ship hull structure, the defect that is unfavorable for disassembling and carrying exists.
The Chinese patent application No. CN201910382746.6 provides an unmanned aerial vehicle self-balancing take-off and landing platform controller, which comprises a power supply, an isolation chip, a nine-axis attitude sensor, a microcontroller, a direct current motor driving module, a film key and a liquid crystal screen, wherein the power supply is used for providing 3.3V voltage, the direct current motor driving module is connected with a motor plug and is used for realizing positive rotation or negative rotation of a motor of an electric push rod, the nine-axis attitude sensor is used for checking the attitude change of a platform surface, the film key is used for realizing the conversion of the working mode of the direct current motor driving module, the liquid crystal screen is used for displaying the attitude information of the platform surface of a tripod type unmanned aerial vehicle take-off and landing platform, the isolation chip is used for isolating the interference signal of the direct current motor driving module, the microcontroller is used for reading the data of the nine-axis attitude sensor, reading the key state of the film key, sending display, this patent technical scheme can realize the self-balancing adjustment of tripod formula unmanned aerial vehicle platform of taking off and land, and when unmanned aerial vehicle can accurate take off and land system and use on the maritime affairs law enforcement ship, because the direct current motor drive module of its setting if meet the sea state complex situation, still there is certain defect in the portability of platform.
Disclosure of Invention
The invention aims to provide a take-off and landing platform of a marine unmanned aerial vehicle and a working method thereof, aiming at the defects of the prior art. The platform has low cost and is convenient to carry and disassemble. The method is simple and practical to operate.
The technical scheme for realizing the purpose of the invention is as follows:
the utility model provides a marine unmanned aerial vehicle platform that takes off and land, includes platform panel backup pad, be equipped with the electric power unit, power supply unit and the microprocessor that the control unit and be connected with the control unit electricity in the platform panel backup pad, platform panel backup pad one side up is equipped with a set of support frame, the upper end activity rigid coupling platform panel that takes off and land of support frame, the decurrent one side of platform panel backup pad is equipped with a set of electric putter who takes fixed stabilizer blade, and the ascending top portion equiphase of every electric putter is equipped with nine attitude sensor and universal joint in proper order, and universal joint is connected with articulated mode and platform panel backup pad rigid coupling, and nine attitude sensor are connected with the microprocessor electricity, and electric putter is connected with the electric power unit electricity, and fixed stabilizer blade can be dismantled.
The number of the electric push rods is at least 4.
The number of the electric push rods is 4.
The number of the support frames is at least 3.
The number of the support frames is 4.
The solar electromagnetic plate is arranged on the lifting platform panel and is electrically connected with the power supply unit.
The power supply unit is provided with a storage battery and a voltage stabilizing circuit and provides electric energy for the nine-axis attitude sensor, the microcontroller, the control unit and the electric power unit.
The nine-axis attitude sensor is used for checking attitude change of a take-off and landing platform of the unmanned aerial vehicle, the nine-axis attitude sensor calculates based on a horizontal reference value set before starting, a horizontal interference value brought to the take-off and landing platform due to sea condition change of a marine law enforcement ship is detected, and a signal is transmitted to the microcontroller, the microcontroller is used for processing the signal transmitted by the nine-axis attitude sensor and transmitting a driving signal to the control unit, after the control unit receives the driving signal, the electric power unit is driven to move the electric push rod assembly so as to make up horizontal offset caused by the sea condition change of the take-off and landing platform, the electric power unit starts and stops through the motor, the forward and reverse rotation and the rotation number reach a horizontal compensation effect, the take-off and landing platform is corrected to be in a horizontal state, and therefore closed-.
The working method of the take-off and landing platform of the marine unmanned aerial vehicle comprises the following steps:
1) the nine-axis attitude sensor detects horizontal deviation of the marine vessel caused by sea condition change and transmits a horizontal deviation signal to the microprocessor;
2) the microprocessor processes the received horizontal offset signal and sends a driving signal to the control unit;
3) the control unit sends a driving signal, and the electric power unit receives the driving signal and then starts, stops, rotates forwards and backwards and rotates at a rotating speed to drive the electric push rod to move so as to compensate the horizontal offset influence of sea condition change on the take-off and landing platform of the unmanned aerial vehicle;
4) the nine-axis attitude sensor carries out horizontal detection again, and transmits horizontal deviation signals to the microprocessor, and the control unit processes according to the collected horizontal deviation signals, forms driving signals and transmits the driving signals to the electric power unit to drive the electric push rod assembly to move so as to carry out horizontal correction, and forms closed-loop control, so that the unmanned aerial vehicle take-off and landing platform can keep a horizontal state on the maritime law enforcement ship.
The platform has low cost and is convenient to carry and disassemble. The method is simple and practical to operate.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment;
fig. 2 is a schematic diagram of a logic structure of an embodiment.
In the figure, 1, a lifting platform panel 2, a support frame 3, a platform panel support plate 4, a universal joint 5, a nine-shaft attitude sensor 6, an electric push rod 7, a fixed support leg 8, an electric power unit 9, a control unit 10, a power supply unit 11 and a microprocessor are arranged.
Detailed Description
The invention will be further elucidated with reference to the drawings and examples, without however being limited thereto.
Example (b):
referring to fig. 1 and 2, the unmanned aerial vehicle taking-off and landing platform for the ship comprises a platform panel supporting plate 3, the platform panel supporting plate 3 is provided with a control unit 9, an electric power unit 8 electrically connected with the control unit 9, a power supply unit 10 and a microprocessor 11, a group of supporting frames 2 are arranged on the upward surface of the platform panel supporting plate 3, the upper ends of the supporting frames 2 are movably and fixedly connected with a lifting platform panel 1, the one side that platform panel backup pad 3 is down is equipped with a set of electric putter 6 of taking fixed stabilizer blade 7, and the ascending top portion of every electric putter 6 all is equipped with nine attitude sensor 5 and universal joint 4 in proper order, and universal joint 4 is with articulated mode and platform panel backup pad 3 rigid coupling, and nine attitude sensor 5 are connected with microprocessor 11 electricity, and electric putter 6 is connected with electric power unit 8 electricity, and fixed stabilizer blade 7 can be dismantled with the marine vessel and be connected.
The number of the electric push rods 6 is at least 4.
The number of the electric push rods 6 is 4 in this example.
The number of the support frames 2 is at least 3.
The number of the support frames 2 is 4 in the present example.
The lifting platform panel 1 is provided with a solar electromagnetic plate, and the solar electromagnetic plate is electrically connected with the power supply unit 10.
The power supply unit 10 is provided with a storage battery and a voltage stabilizing circuit, and the power supply unit 10 supplies electric energy to the nine-axis attitude sensor 5, the microcontroller 11, the control unit 9 and the electric power unit 8, in this example. The electric unit 10 is provided with a 12V storage battery and a voltage stabilizing circuit, and the voltage stabilizing circuit 12V is converted into 3.3V voltage to supply power for the microprocessor 11 and the control system 9.
The nine-axis attitude sensor 5 is used for checking attitude change of a take-off and landing platform of the unmanned aerial vehicle, the nine-axis attitude sensor 5 is used for calculating based on a horizontal reference value set before starting, detecting a horizontal interference value brought to the take-off and landing platform by sea condition change of a marine law enforcement ship and transmitting a signal to the microcontroller 11, the microcontroller 11 is used for processing the signal transmitted by the nine-axis attitude sensor 5 and transmitting a driving signal to the control unit 9, after the control unit 9 receives the driving signal, the electric power unit 8 is driven to move the electric push rod 6 assembly so as to make up horizontal offset brought by the sea condition change of the take-off and landing platform, the electric power unit 8 starts and stops the motor, the horizontal compensation effect is achieved by positive and negative rotation and the number of revolutions, and the take-off and landing platform is corrected to the horizontal state, so that closed-loop.
The working method of the take-off and landing platform of the marine unmanned aerial vehicle comprises the following steps:
1) the nine-axis attitude sensor 5 detects horizontal deviation of the marine vessel caused by sea state change and transmits a horizontal deviation signal to the microprocessor 11;
2) the microprocessor 11 processes the received horizontal offset signal to send a driving signal to the control unit 9;
3) the control unit 9 sends a driving signal, and the electric power unit 8 receives the driving signal and then starts, stops, rotates forwards and backwards and rotates at a rotating speed to drive the electric push rod 6 to move so as to compensate the horizontal offset influence of sea condition change on the take-off and landing platform of the unmanned aerial vehicle;
4) the nine-axis attitude sensor 5 carries out horizontal detection again, and transmits horizontal deviation signals to the microprocessor 11, and the control unit 9 processes according to the collected horizontal deviation signals, forms driving signals and transmits the driving signals to the electric power unit 8 to drive the electric push rod 6 assembly to move for horizontal correction, forms closed-loop control, and enables the unmanned aerial vehicle take-off and landing platform to be kept in a horizontal state on the maritime law enforcement ship.
In this example, the model of the nine-axis attitude sensor is GY-9910 DOF, the microprocessor 11 is a data fusion processing chip SENtral, and the chip of the control unit 9 for the drive circuit is AT 8870.
Claims (8)
1. The utility model provides a marine unmanned aerial vehicle platform that takes off and land, a serial communication port, including the platform panel backup pad, be equipped with the electric power unit, power supply unit and the microprocessor that the control unit is connected with the control unit electricity in the platform panel backup pad, platform panel backup pad one side up is equipped with a set of support frame, and the platform panel that takes off and land is fixed to the upper end activity rigid coupling of support frame, the decurrent one side of platform panel backup pad is equipped with a set of electric putter who takes fixed stabilizer blade, and the ascending top portion average order of every electric putter is equipped with nine attitude sensor and universal joint, and universal joint is connected with articulated mode and platform panel backup pad rigid coupling, and nine attitude sensor are connected with the microprocessor electricity, and electric putter is connected with the electric power unit electricity, and fixed stabilizer blade.
2. The unmanned marine aerial vehicle takeoff and landing platform of claim 1, wherein the number of said electric push rods is at least 4.
3. The unmanned aerial vehicle take-off and landing platform for the ship of claim 2, wherein the number of the electric push rods is 4.
4. The unmanned marine aerial vehicle take-off and landing platform of claim 1, wherein the number of support frames is at least 3.
5. The unmanned aerial vehicle take-off and landing platform for ships of claim 4, wherein the number of the support frames is 4.
6. The unmanned aerial vehicle take-off and landing platform for the ship of claim 1, wherein a solar electromagnetic plate is arranged on the panel of the take-off and landing platform, and the solar electromagnetic plate is electrically connected with the power supply unit.
7. The unmanned marine aerial vehicle takeoff and landing platform of claim 1, wherein said power supply unit is provided with a battery and a voltage regulator circuit.
8. Method for operating a takeoff and landing platform of a marine drone according to any one of claims 1 to 7, comprising the takeoff and landing platform of a marine drone according to any one of claims 1 to 7, the method comprising the steps of:
1) the nine-axis attitude sensor detects horizontal deviation of the marine vessel caused by sea condition change and transmits a horizontal deviation signal to the microprocessor;
2) the microprocessor processes the received horizontal offset signal and sends a driving signal to the control unit;
3) the control unit sends a driving signal, and the electric power unit receives the driving signal and then starts, stops, rotates forwards and backwards and rotates at a rotating speed to drive the electric push rod to move so as to compensate the horizontal offset influence of sea condition change on the take-off and landing platform of the unmanned aerial vehicle;
4) the nine-axis attitude sensor carries out horizontal detection again, and transmits horizontal deviation signals to the microprocessor, and the control unit processes according to the collected horizontal deviation signals, forms driving signals and transmits the driving signals to the electric power unit to drive the electric push rod assembly to move so as to carry out horizontal correction, and forms closed-loop control, so that the unmanned aerial vehicle take-off and landing platform can keep a horizontal state on the maritime law enforcement ship.
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| CN201911362374.7A CN111007866A (en) | 2019-12-26 | 2019-12-26 | Marine unmanned aerial vehicle take-off and landing platform and working method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113212781A (en) * | 2021-06-24 | 2021-08-06 | 烟台中商人工智能科技有限公司 | Unmanned aerial vehicle take-off and landing platform |
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- 2019-12-26 CN CN201911362374.7A patent/CN111007866A/en active Pending
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113212781A (en) * | 2021-06-24 | 2021-08-06 | 烟台中商人工智能科技有限公司 | Unmanned aerial vehicle take-off and landing platform |
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