CN112049497B - Plane cover plate unmanned aerial vehicle hangar and cover plate control method thereof - Google Patents
Plane cover plate unmanned aerial vehicle hangar and cover plate control method thereof Download PDFInfo
- Publication number
- CN112049497B CN112049497B CN202010706623.6A CN202010706623A CN112049497B CN 112049497 B CN112049497 B CN 112049497B CN 202010706623 A CN202010706623 A CN 202010706623A CN 112049497 B CN112049497 B CN 112049497B
- Authority
- CN
- China
- Prior art keywords
- cover plate
- aerial vehicle
- unmanned aerial
- box body
- opening
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B7/00—Roofs; Roof construction with regard to insulation
- E04B7/16—Roof structures with movable roof parts
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B7/00—Roofs; Roof construction with regard to insulation
- E04B7/16—Roof structures with movable roof parts
- E04B7/166—Roof structures with movable roof parts characterised by a translation movement of the movable roof part, with or without additional movements
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a plane cover plate unmanned aerial vehicle hangar and a cover plate control method thereof, belongs to the field of intelligent hangars, and is used for solving the problem that the unmanned aerial vehicle is difficult to fold and unfold due to the fact that the unmanned aerial vehicle is not in a correct position when the unmanned aerial vehicle stops in the hangar. The unmanned aerial vehicle hangar comprises a box body (100), an opening and closing cover plate (200), a lifting mechanism (300), a gathering device (400) and an electric push rod; the opening and closing cover plate (200) is positioned at the top of the box body (100); the electric push rod comprises an outer box push rod (500) and an inner box push rod (600); the electric push rod drives the opening and closing cover plate (200) to move; the lifting mechanism (300) is positioned inside the box body (100) and used for lifting the unmanned aerial vehicle in the machine base; put together device (400) including spacing claw (401), spacing motor (402), spacing hold-in range (403) and spacing synchronizing wheel (404), put together device (400) and be used for adjusting the position after unmanned aerial vehicle falls. The invention further provides a method for controlling the movement of the unmanned aerial vehicle hangar opening and closing cover plate (200).
Description
Technical Field
The invention relates to the field of intelligent hangars, in particular to a plane cover plate unmanned aerial vehicle hangar and a cover plate control method thereof.
Background
Many rotor unmanned aerial vehicle is patrolling and examining, survey and drawing, address exploration, monitoring etc. field application extensively, is mostly the minimum work cell of "single unit" in the use, carries unmanned aerial vehicle to near task place by personnel, and the scene takes off unmanned aerial vehicle and accomplishes specific operation task. Most of consumption unmanned aerial vehicle and industrial unmanned aerial vehicle in the existing market accomplish the task under operating personnel's participation when carrying out the task, and the flight of taking off and land and the storage task of full independence are not perfect enough, especially the automatic problem of retrieving the location of unmanned aerial vehicle. Meanwhile, when the unmanned aerial vehicle carries out tasks in the field, the problems of taking off and landing and autonomous charging when the external environment is severe and the tasks are carried out remotely are gradually highlighted.
In the existing unmanned aerial vehicle hangar, the area occupied by the cover plate after opening, closing and stretching is basically twice of the original area, the occupied installation site is large, and the cover plate cannot be folded; when unmanned aerial vehicle descends, because the environment flow field's that unmanned aerial vehicle machine thick liquid disturbance produced unstability, including the influence that the environment caused, unmanned aerial vehicle descends and will produce the deviation, because unmanned aerial vehicle descending position is inaccurate even, causes the difficulty to unmanned aerial vehicle's the normal work of receiving and releasing and apron.
The patent 201920109099.7 specification of the Chinese application discloses an intelligent hangar device of a multi-rotor unmanned aerial vehicle, which is provided with a cover plate and a stopping platform, wherein the cover plate can be opened and closed, and the stopping platform can be lifted; but the position after this patent hangar can't adjust unmanned aerial vehicle falls to the apron of hangar is opened and is extended the space that occupies to the left and right sides when big.
Disclosure of Invention
The invention aims to overcome at least one defect (deficiency) in the prior art, and provides a plane cover plate unmanned aerial vehicle hangar to solve the problems that the unmanned aerial vehicle is difficult to fold and unfold due to the fact that the unmanned aerial vehicle is not positioned correctly when the unmanned aerial vehicle stops in the hangar, and the problem that the cover plate of the unmanned aerial vehicle hangar is large in horizontal opening and closing occupied area, so that the effect of facilitating the folding and unfolding of the unmanned aerial vehicle is achieved.
In order to achieve the technical effects, the technical scheme of the invention is as follows:
on one hand, the invention discloses a plane cover plate unmanned aerial vehicle hangar which comprises a box body, an opening and closing cover plate, a lifting mechanism, a gathering device and an electric push rod, wherein the opening and closing cover plate is arranged on the box body;
the opening and closing cover plate is positioned at the top of the box body; the electric push rod comprises an outer push rod of the box body and an inner push rod of the box body; one ends of the outer box push rod and the inner box push rod are arranged on the box body, the other ends of the outer box push rod and the inner box push rod are rotatably connected with the opening and closing cover plate, and the inner box push rod is also in sliding connection with the opening and closing cover plate; the opening and closing cover plate is of a plane structure;
the lifting mechanism is positioned in the box body and comprises a lifting platform, a screw rod, a rotating wheel and a lifting motor; the screw rod penetrates through the lifting platform, and one end of the screw rod is connected with the rotating wheel; the rotating wheel is arranged at the lower part of the box body; the lifting motor is connected with the rotating wheel through a first transmission mechanism; the lifting motor is fixed at the lower part of the box body; a limiting track hole is formed in the lifting platform;
the gathering device comprises a limiting claw, a limiting motor, a limiting synchronous belt and a limiting synchronous wheel; the limiting synchronous wheels are installed on the lower plane of the lifting platform in pairs; two ends of the limiting synchronous belt are respectively arranged on the limiting synchronous wheels in pairs; the limiting motor is connected with the limiting synchronous wheel through a second transmission mechanism; the limiting motor is fixed on the lower plane of the lifting platform; spacing claw with spacing hold-in range is connected, spacing claw passes stretch out behind the spacing track hole lift platform's last plane, spacing claw adjusts unmanned aerial vehicle's position through removing the unmanned aerial vehicle machine foot.
According to the unmanned aerial vehicle hangar disclosed by the invention, the opening and closing cover plate is opened when an unmanned aerial vehicle needs to land, the opening and closing cover plate is opened and closed through the acting force of the electric push rod, the outer push rod of the box body pulls the outer part of the opening and closing cover plate downwards, the push rod in the box body pushes the inner part of the opening and closing cover plate upwards, so that the opening and closing cover plate can rotate by a certain angle and stop at the outer side of the box body, and the space occupied by the hangar can be saved; after unmanned aerial vehicle fell to lift platform, because its position of uncertain factors such as wind-force has certain deviation, at this moment put together the device motion, spacing motor passes through spacing synchronizing wheel and drives spacing hold-in range motion, spacing hold-in range drives spacing claw and removes, spacing claw can contact with unmanned aerial vehicle's horn after stretching out spacing track hole of spacing platform, spacing claw adjusts unmanned aerial vehicle's position through the horn that removes unmanned aerial vehicle, the problem that unmanned aerial vehicle stops into the hangar and the position is not just made unmanned aerial vehicle receive and release the difficulty is appeared to having solved, make unmanned aerial vehicle receive and release more convenient, can also guarantee the accuracy of follow-up unmanned aerial vehicle autonomic charging location in addition.
When the unmanned aerial vehicle lands on the lifting platform, the lifting platform is arranged at the upper part of the box body, then the lifting platform can move the unmanned aerial vehicle after landing to the lower part of the box body, and the movement of the lifting platform is realized through the lifting mechanism; lifting motor passes through a drive mechanism and drives the runner rotates, and the runner drives the lead screw and rotates, and the rotation of lead screw can make lift platform rise or descend.
Furthermore, the box body comprises a front wall, a rear wall, a bottom plate and side walls on the left side and the right side; the opening and closing cover plate comprises a left cover plate and a right cover plate; the left cover plate is connected with the outer push rod of the box body and the inner push rod of the box body, and the right cover plate is connected with the outer push rod of the box body and the inner push rod of the box body.
Furthermore, the gathering device moves the unmanned aerial vehicle in the left-right and front-back directions, a first limiting claw and a second limiting claw are connected to the limiting synchronous belt in each moving direction, the first limiting claw is connected with the upper part of the limiting synchronous belt, and the second limiting claw is connected with the lower part of the limiting synchronous belt; the first limiting claw and the second limiting claw are symmetrical relative to the central plane of the lifting platform. Will first spacing claw with the spacing claw of second is as for the upper portion and the lower part of same hold-in range respectively, is in order to let first spacing claw and the spacing claw of second remove to the centre simultaneously or outwards remove simultaneously, promotes the unmanned aerial vehicle of arbitrary position and removes toward central point.
Furthermore, the limiting rail holes are rectangular holes in the left-right direction and the front-back direction. Corresponding to the limiting claws moving left and right and back and forth.
Furthermore, the position of the limiting claw extending out of the upper plane of the lifting platform is of a hook-shaped structure. The limiting claw of the hook-shaped structure can be connected with the machine leg of the unmanned aerial vehicle more firmly, so that the unmanned aerial vehicle can be moved more stably.
Furthermore, four angles in the box body are respectively fixed with a guide rod, and the lifting platform is connected with the guide rods in a sliding manner. The guide rod makes the lift platform move more steadily.
Furthermore, the first transmission mechanism adopts belt transmission, the lifting motor is connected with a lifting synchronous wheel, and the lifting synchronous wheel is connected with the rotating wheel through a lifting synchronous belt;
the second transmission mechanism adopts shaft transmission, the limiting motor is connected with one end of the rotating shaft, and the limiting synchronizing wheel is installed on the rotating shaft.
Of course, the first transmission mechanism and the second transmission mechanism may also adopt other conventional transmission modes, such as gear transmission, and will not be described herein.
Furthermore, a linear bearing is arranged at the joint of the lifting platform and the guide rod. The linear bearing can reduce the friction force between the lifting platform and the guide rod when the lifting platform moves.
On the other hand, the invention also discloses a method for controlling the cover plate of the unmanned aerial vehicle hangar, which is used for controlling the movement of the opening and closing cover plate, and comprises the following steps:
s1: establishing a coordinate system for an unmanned aerial vehicle hangar; the opening and closing cover plate is regarded as a line segment, and connection points of the push rod in the box body and the push rod outside the box body and the opening and closing cover plate are set as E and C; in the movement process of the opening and closing cover plate, setting the edge of the box body closest to the opening and closing cover plate as D; the distance from C to the box body is L2And E is at a distance L from the box body1The height of the box body is h;
obtaining coordinates: d (0, h), C (L)2，h)，E(-L1，h)；
When the opening and closing cover plate moves: ci(L2，Yci)，
S2: calculating the coordinate relation between the connecting points of the push rods outside the box body and the push rods inside the box body and the opening and closing cover plate; in planar coordinates there are:
the formula is simplified:
s3: calculating the speed relation between the two points E and C: in the upper type
Performing time derivation to obtain:
the control method of the invention gives the position and speed relationship of the contact points of the push rod outside the box body and the push rod inside the box body and the opening and closing cover plate when the normal movement of the opening and closing cover plate is ensured, thereby obtaining the movement track of the cover plate, and avoiding the conditions of touch, shell clamping and friction when the cover plate is opened and closed according to the movement limit position of the opening and closing cover plate.
Further, if a connecting piece between the electric push rod and the opening and closing cover plate is considered, the control method comprises the following steps:
setting the connection points of the push rod in the box body and the push rod outside the box body and the connecting piece as E and C, setting the corresponding connection points of the connecting piece and the opening and closing cover plate as E 'and C', and keeping the connecting piece and the opening and closing cover plate in a vertical relation all the time,
can rotate around the point C;
the opening and closing cover plate is regarded as a line segment; in the movement process of the opening and closing cover plate, setting the edge of the box body closest to the opening and closing cover plate as D; the distance from C to the box body is L2And E is at a distance L from the box body1(ii) a The height of the box body is h;
establishing a coordinate system, then knowing:
D(0，h)，C′(xC′，yC′)，E(-L1，YE)，C(L2，Yc)；
known as L1、L2、h、，
And
is collinear with
OD＝h；
C. D, E, C' four-point coordinates are eight, when given YcThen, there are three unknowns, xC′、yC′And YE；
(xC′-L2)2+(yC′-yc)2＝a2
because the E, D, C' three points are collinear, then:
L2 2+(h-yc)2＝a2+[xC′ 2+(h-yC′)2]
and (3) setting the included angle between the opening and closing cover plate and the horizontal plane as theta, and solving the following problems according to the geometrical relation in a coordinate system:
yE＝h+L2tgθ
from the above equation, y can be obtainedC′、yEThe velocity relationship between C' and E can then be determined by deriving the relationship over time.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
1. according to the unmanned aerial vehicle hangar provided by the invention, the opening and closing cover plate is opened when an unmanned aerial vehicle needs to land, the opening and closing cover plate is opened and closed through the acting force of the electric push rod, the outer push rod of the box body pulls the outer part of the opening and closing cover plate downwards, the push rod in the box body pushes the inner part of the opening and closing cover plate upwards, so that the opening and closing cover plate can rotate by a certain angle and stop at the outer side of the box body, and the area occupied by the hangar can be saved; after unmanned aerial vehicle fell to lift platform, because its position of uncertain factors such as wind-force has certain deviation, it drives spacing hold-in range motion through spacing synchronizing wheel to put together spacing motor among the device, spacing hold-in range drives spacing claw and removes, can contact with unmanned aerial vehicle's horn after spacing claw stretches out spacing track hole of spacing platform, spacing claw adjusts unmanned aerial vehicle's position through the horn that removes unmanned aerial vehicle, the problem that unmanned aerial vehicle stops to appear the position in the hangar and not just make unmanned aerial vehicle receive and release the difficulty is solved, make unmanned aerial vehicle receive and release more convenient, can also guarantee the accuracy of follow-up unmanned aerial vehicle autonomous charging location in addition.
2. The method for controlling the unmanned aerial vehicle hangar is used for controlling the opening and closing of the opening and closing cover plate, giving the position and speed relation between the contact points of the outer push rod of the box body and the push rod in the box body and the opening and closing cover plate, and giving the motion trail of the cover plate, so that the motion limit position of the opening and closing cover plate is determined, and the conditions of touch, shell clamping and friction when the cover plate is opened are avoided.
Drawings
Fig. 1 is a schematic structural view of an unmanned aerial vehicle hangar according to a first embodiment of the present invention when a cover plate is opened;
FIG. 2 is a schematic structural view of a connection portion of a push rod in a box according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a closing cover plate of an unmanned aerial vehicle hangar according to a first embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a lifting mechanism according to a first embodiment of the present invention;
FIG. 5 is a schematic structural view of a top plane of the lifting platform according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a gathering device according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a first transmission mechanism according to a first embodiment of the present invention;
FIG. 8 is a schematic diagram of a second embodiment of the present invention;
fig. 9 is a schematic diagram of a third embodiment of the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1 to 6, the present embodiment provides a plane cover plate unmanned aerial vehicle hangar, which is characterized in that the plane cover plate unmanned aerial vehicle hangar comprises a box body 100, an opening and closing cover plate 200, a lifting mechanism 300, a gathering device 400 and an electric push rod;
the opening and closing cover plate 200 is positioned at the top of the box body 100; the electric push rod comprises an outer box push rod 500 and an inner box push rod 600; one end of the outer box push rod 500 and one end of the inner box push rod 600 are mounted on the box body 100, the other end of the outer box push rod 500 and the other end of the inner box push rod 600 are rotatably connected with the opening and closing cover plate 200, and the inner box push rod 600 is also slidably connected with the opening and closing cover plate 200; the opening and closing cover plate 200 is a planar plate structure;
the lifting mechanism 300 is positioned inside the box body 100, and the lifting mechanism 300 comprises a lifting platform 301, a screw rod 302, a rotating wheel 303 and a lifting motor 304; the screw rod 302 penetrates through the lifting platform 301, and one end of the screw rod 302 is connected with the rotating wheel 303; the runner 303 is installed at the lower part of the box body 100; the lifting motor 304 is connected with the rotating wheel 303 through a first transmission mechanism; the lifting motor 304 is fixed at the lower part of the box body 100; a limiting track hole 305 is formed in the lifting platform 301;
the gathering device 400 comprises a limiting claw 401, a limiting motor 402, a limiting synchronous belt 403 and a limiting synchronous wheel 404; the limit synchronizing wheels 404 are installed on the lower plane of the lifting platform 301 in pairs; two ends of the limit synchronous belt 403 are respectively installed on the limit synchronous wheels 404 in pairs; the limit motor 402 is connected with the limit synchronizing wheel 404 through a second transmission mechanism; the limiting motor 402 is fixed on the lower plane of the lifting platform 301; spacing claw 401 with spacing hold-in range 403 is connected, spacing claw 401 passes stretch out behind the spacing track hole 305 lift platform 301's last plane, spacing claw 401 is through removing unmanned aerial vehicle horn to adjust unmanned aerial vehicle's position.
The unmanned aerial vehicle hangar that this embodiment provided opens the apron 200 that opens and shuts when unmanned aerial vehicle needs to descend, and the apron 200 that opens and shuts through electric putter's effort, the outer push rod 500 of box both can slide also can rotate for the apron 200 that opens and shuts, push rod 600 rotates for the apron 200 that opens and shuts in the box to make the apron 200 that opens and shuts rotate certain angle and stop in the both sides of case 100, can save the shared space of hangar like this.
It should be noted that, after unmanned aerial vehicle descended to lift platform 301, because its position of uncertain factors such as wind-force has certain deviation, at this moment, device 400 motion is closed together, spacing motor 402 drives spacing hold-in range 403 motion through spacing synchronizing wheel 404, spacing hold-in range 403 drives spacing claw 401 and removes, spacing claw 401 stretches out and can contact with unmanned aerial vehicle's horn after lift platform 301's spacing track hole 305, spacing claw 401 adjusts unmanned aerial vehicle's position through the horn that removes unmanned aerial vehicle, the problem of the unmanned aerial vehicle emergence position is not just and make unmanned aerial vehicle receive and release the difficulty in stopping into the hangar has been solved, make unmanned aerial vehicle receive and release more convenient, and can also guarantee the accuracy of follow-up unmanned aerial vehicle autonomic charging location.
It should be noted that, when the unmanned aerial vehicle falls on the lifting platform 301, the lifting platform 301 is on the upper portion of the box 100, and then the lifting platform 301 moves the unmanned aerial vehicle after falling to the lower portion of the box 100, and the movement of the lifting platform 301 is realized by the lifting mechanism 300; the lifting motor 304 drives the rotating wheel 303 to rotate through the first transmission mechanism, the rotating wheel drives the screw rod 302 to rotate, and the rotation of the screw rod 302 can enable the lifting platform 301 to ascend or descend.
Further, the box 100 in this embodiment includes a front wall, a rear wall, a bottom plate, and left and right side walls; the opening and closing cover plate 200 comprises a left cover plate 201 and a right cover plate 202; the left cover plate 201 is connected with the outer push rod 500 of the box body and the inner push rod 600 of the box body, and the right cover plate 202 is connected with the outer push rod 500 of the box body and the inner push rod 600 of the box body. Wherein each cover plate is connected with two case outer push rods 500 and two case inner push rods 600.
Further, in this embodiment, the gathering device 400 moves the unmanned aerial vehicle in the left-right and front-back directions, the limit synchronous belt 403 in each moving direction is connected with a first limit claw and a second limit claw, the first limit claw is connected with the upper part of the limit synchronous belt 403, and the second limit claw is connected with the lower part of the limit synchronous belt 403; the first limiting claw and the second limiting claw are symmetrical relative to the central plane of the lifting platform 301. As shown in fig. 5, two pairs of limiting claws 401 are arranged in each direction of the left, the right, the front and the back, each pair of limiting claws 401 is driven by the same limiting synchronous belt 403, and a first limiting claw and a second limiting claw form a pair; first spacing claw and second spacing claw are respectively as for the upper portion and the lower part of same spacing hold-in range 403, are in order to let first spacing claw and second spacing claw remove to the centre simultaneously or outwards remove simultaneously, promote the unmanned aerial vehicle of arbitrary position and remove toward central point, can let a spacing hold-in range 403 drive a pair of spacing claw 401 of moving in opposite directions simultaneously like this.
It should be noted that, on lift platform 301, set up 8 spacing claws 401 from four directions, after unmanned aerial vehicle lands at the platform, because unmanned aerial vehicle descending process control precision has the difficulty, the undercarriage of descending back unmanned aerial vehicle has the deviation of certain translation deviation and angle. Spacing claw 401's effect mainly is fixed unmanned aerial vehicle, adjusts unmanned aerial vehicle to the correct position simultaneously, solves because unmanned aerial vehicle descends the deviation of in-process, leads to unmanned aerial vehicle to descend the lateral wall emergence contact and the collision of in-process and box 100 at lift platform 301, makes unmanned aerial vehicle can not accomplish depositing in box 100.
The four-direction 8 limiting claws 401 are divided into four groups, the control process is diversified, and one can be selected. The two opposite sets are synchronized to move in opposite directions, and the other opposite direction is then synchronized to move in opposite directions. The method comprises the following specific steps: after the unmanned aerial vehicle lands on the lifting platform 301, two groups of limiting claws 401 in the direction perpendicular to the machine legs are selected according to the condition of the machine legs of the unmanned aerial vehicle, and the two groups of limiting claws 401 are enabled to respectively synchronously translate from the farthest ends to the middle of the platform by controlling a limiting motor 402; when unmanned aerial vehicle had angular deviation, from one in two spacing claws 401 of one side to middle part synchronous motion can contact the unmanned aerial vehicle horn earlier, in the middle part promotion in-process that continues, can make unmanned aerial vehicle's angle to correct direction deflection and adjustment. After unmanned aerial vehicle's angle is corrected, two spacing claws 401 on one side all can contact the unmanned aerial vehicle machine foot, so will make unmanned aerial vehicle produce the translation with the synchronous promotion of two spacing claws on one side, when four spacing claws 401 on both sides all reach the position of settlement (generally set for according to unmanned aerial vehicle's machine foot interval earlier), the translation deviation and the angular deviation of unmanned aerial vehicle machine foot all obtain correcting, unmanned aerial vehicle is restricted and is fixed by the card position. Two sets of spacing claws 401 of another direction can be out of work, also can set up work according to the structural feature of unmanned aerial vehicle horn, promotes unmanned aerial vehicle horn adjustment translation deviation and positional deviation, and the workflow is no longer repeated here with above-mentioned two sets of similarities.
Optionally, the limiting rail hole 305 is a rectangular hole in the left-right and front-back directions. The hole is opened according to the moving position of the limiting claw 401.
Further, the upper plane part of the limiting claw 401 extending out of the lifting platform 301 is a hook-shaped structure, which is similar to the shape of the number "7".
Optionally, four corners inside the box 100 are respectively fixed with a guide rod, the lifting platform 301 is connected with the guide rods in a sliding manner, and the guide rods enable the lifting platform 301 to move more stably. Of course, a plurality of screw drives can be used to ensure smooth movement of the lifting platform 301.
Further, as shown in fig. 7, the first transmission mechanism adopts belt transmission, the lifting motor 304 is connected with a lifting synchronous wheel 306, and the lifting synchronous wheel 306 is connected with the rotating wheel 303 through a lifting synchronous belt 307;
the second transmission mechanism adopts shaft transmission, the limiting motor 402 is connected with one end of a rotating shaft 405, and the limiting synchronous wheel 404 is installed on the rotating shaft 405.
Similarly, the first transmission mechanism or the second transmission mechanism can also be connected by other transmission methods, such as gear transmission.
Optionally, a linear bearing is arranged at a joint of the lifting platform 301 and the guide rod. The linear bearing can reduce the friction force between the lifting platform and the guide rod when the lifting platform moves.
Example 2
The embodiment provides a method for controlling a cover plate of an unmanned aerial vehicle hangar in the first embodiment, wherein the method is used for controlling the movement of the opening and closing cover plate 200; the principle of the method is shown in fig. 8, and the method comprises the following steps:
s1: establishing unmanned aerial vehicle hangarA coordinate system; the opening and closing cover plate 200 is regarded as a line segment CF, and the connection points of the push rod 600 in the box body and the push rod 500 outside the box body and the opening and closing cover plate 200 are set as E and C; in the movement process of the opening and closing cover plate 200, setting the edge of the box body 100, which is closest to the opening and closing cover plate 200, as D; the distance from C to the box body 100 is L2E is spaced from the case 100 by a distance L1The box 100 is high h, CF ═ L;
obtaining coordinates: d (0, h), C (L)2，h)，E(-L1，h)；
When the opening and closing cover plate 200 is set to move: ci(L2，Yci)，
S2: calculating the coordinate relation of the connection points of the external push rod 500 of the box body and the internal push rod 600 of the box body and the opening and closing cover plate 200; in planar coordinates there are:
the formula is simplified:
s3: calculating the speed relation between the two points E and C: in the upper type
Performing time derivation to obtain:
the control method of the invention gives the position and speed relationship of the contact points of the box outer push rod 500 and the box inner push rod 600 and the opening and closing cover plate 200 when the normal movement of the opening and closing cover plate 200 is ensured, thereby obtaining the movement track of the cover, and avoiding the conditions of touch, shell clamping and friction when the cover plate is opened and closed according to the movement limit position of the opening and closing cover plate 200.
Example 3
The control method provided by the present embodiment is different from the second embodiment in that the present embodiment considers the influence of the connecting member between the electric push rod and the opening/closing cover plate 200, and in combination with the schematic diagram of fig. 9, the control method of the present embodiment is as follows:
the connection points of the push rod 600 inside the box body and the push rod 500 outside the box body and the connection pieces are set as E and C, the corresponding connection points of the connection pieces and the opening and closing cover plate 200 are set as E 'and C', the connection pieces and the opening and closing cover plate 200 are always in a vertical relationship,
can rotate around C;
regarding the opening and closing cover plate 200 as a line segment CF, let CF equal to L; in the movement process of the opening and closing cover plate 200, setting the edge of the box body 100, which is closest to the opening and closing cover plate 200, as D; the distance from C to the box body 100 is L2E is spaced from the case 100 by a distance L1(ii) a The height of the box body 100 is h;
establishing a coordinate system, then knowing:
D(0，h)，C′(xC′，yC′)，E(-L1，YE)，C(L2，Yc)；
known as L1、L2、h、，
And
is collinear with
OD＝h；
C. D, E, C' four-point coordinates are eight, when given YcThen, there are three unknowns, xC′、YC′And YE；
(xC′-L2)2+(yC′-yc)2＝a2
because the E, D, C' three points are collinear, then:
L2 2+(h-yc)2＝a2+[xC′ 2+(h-yC′)2]
and (2) setting the included angle between the opening and closing cover plate (200) and the horizontal plane as theta, and knowing according to the geometrical relationship in the coordinate system:
ΔEDM：
yE＝h+L2tgθ
Δ CC' G: the CG is the hypotenuse,
CG＝a/cosθ
therefore, it is not only easy to use
Therefore, it is
yc＝h-L1tgθ-a/cosθ
Using parameter theta as variable discussion to obtain theta and ycThe relationship of (1):
then there are:
from the above equation, y can be obtainedC′、yEThe velocity relationship between C' and E can then be determined by deriving the relationship over time.
With CiAnd EiThe positions of points C and E in motion are represented by yCiAnd yEiThe coordinates when representing the motion of two points are:
VyEi＝dyE/dt＝dyE/dθ·dθ/dt
VyCi＝dyc/dt＝dyC/dθ·dθ/dt
from this, C can be obtainediAnd EiVelocity relationship of two points.
It should be noted that, with the method of this embodiment, the step of opening and folding the cover plate is: determining the position coordinate of a ', calculating a mathematical model, determining the corresponding position coordinate of c', lifting an inner push rod, reaching the position coordinate corresponding to a ', lifting an outer push rod, reaching a new position coordinate, repeating the steps until a' reaches the target position, and stopping.
Wherein, the target position may be the lowest position coordinate of the point a', which corresponds to the folded state of the cover. Or the highest position coordinate of the point a', which corresponds to the cover plate being in the closed state.
The same or similar reference numerals correspond to the same or similar parts;
the positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. An unmanned aerial vehicle hangar with a plane cover plate is characterized by comprising a box body (100), an opening and closing cover plate (200), a lifting mechanism (300), a gathering device (400) and an electric push rod;
the opening and closing cover plate (200) is positioned at the top of the box body (100); the electric push rod comprises an outer box push rod (500) and an inner box push rod (600); one ends of the outer box push rod (500) and the inner box push rod (600) are mounted on the box body (100), the other ends of the outer box push rod (500) and the inner box push rod (600) are rotatably connected with the opening and closing cover plate (200), and the inner box push rod (600) is also slidably connected with the opening and closing cover plate (200); the opening and closing cover plate (200) is of a plane structure;
the lifting mechanism (300) is positioned in the box body (100), and the lifting mechanism (300) comprises a lifting platform (301), a screw rod (302), a rotating wheel (303) and a lifting motor (304); the screw rod (302) penetrates through the lifting platform (301), and one end of the screw rod (302) is connected with the rotating wheel (303); the rotating wheel (303) is arranged at the lower part of the box body (100); the lifting motor (304) is connected with the rotating wheel (303) through a first transmission mechanism; the lifting motor (304) is fixed at the lower part of the box body (100); a limiting track hole (305) is formed in the lifting platform (301);
the gathering device (400) comprises a limiting claw (401), a limiting motor (402), a limiting synchronous belt (403) and a limiting synchronous wheel (404); the limiting synchronous wheels (404) are installed on the lower plane of the lifting platform (301) in pairs; two ends of the limit synchronous belt (403) are respectively arranged on the limit synchronous wheels (404) in pairs; the limiting motor (402) is connected with the limiting synchronous wheel (404) through a second transmission mechanism; the limiting motor (402) is fixed on the lower plane of the lifting platform (301); the limiting claw (401) is connected with the limiting synchronous belt (403), the limiting claw (401) penetrates through the limiting track hole (305) and then extends out of the upper plane of the lifting platform (301), and the position of the unmanned aerial vehicle is adjusted by moving the foot of the unmanned aerial vehicle through the limiting claw (401);
the control method of the unmanned aerial vehicle hangar cover plate controls the movement of the opening and closing cover plate (200), and comprises the following steps:
s1: establishing a coordinate system for an unmanned aerial vehicle hangar; the opening and closing cover plate (200) is regarded as a line segment, and connection points of the push rod (600) in the box body and the push rod (500) outside the box body and the opening and closing cover plate (200) are set as E and C; in the movement process of the opening and closing cover plate (200), setting the edge of the box body (100) closest to the opening and closing cover plate (200) as D; the distance from C to the box body (100) is L2E is a distance L from the box body (100)1The height of the box body (100) is h;
obtaining coordinates: d (0, h), C (L)2，h)，E(-L1，h)；
When the opening and closing cover plate (200) is set to move: ci(L2，Yci)，
S2: calculating the coordinate relation of the connecting points of the push rod (500) outside the box body and the push rod (600) inside the box body and the opening and closing cover plate (200); in planar coordinates there are:
the formula is simplified:
s3: calculating the speed relation between the two points E and C: in the upper type
Performing time derivation to obtain:
2. the unmanned aerial vehicle hangar of claim 1, wherein the box (100) comprises a front wall, a rear wall, a floor, and left and right side walls; the opening and closing cover plate (200) comprises a left cover plate (201) and a right cover plate (202); the left cover plate (201) is connected with the outer push rod (500) of the box body and the inner push rod (600) of the box body, and the right cover plate (202) is connected with the outer push rod (500) of the box body and the inner push rod (600) of the box body.
3. The unmanned aerial vehicle hangar of claim 1 or 2, wherein the gathering device (400) moves the unmanned aerial vehicle in the left-right and front-back directions, the spacing synchronous belt (403) in each moving direction is connected with a first spacing claw and a second spacing claw, the first spacing claw is connected with the upper part of the spacing synchronous belt (403), and the second spacing claw is connected with the lower part of the spacing synchronous belt (403); the first limiting claw and the second limiting claw are symmetrical relative to the central plane of the lifting platform (301).
4. The unmanned aerial vehicle hangar of claim 3, wherein the limit track aperture (305) is a right-left and fore-aft rectangular opening.
5. The unmanned aerial vehicle hangar of claim 1, wherein the upper planar portion of the limit pawl (401) extending beyond the lifting platform (301) is of hook-like configuration.
6. The unmanned aerial vehicle hangar of claim 1, 2, 4 or 5, wherein guide rods are fixed at four corners inside the box body (100), and the lifting platform (301) is connected with the guide rods in a sliding manner.
7. The unmanned aerial vehicle hangar of claim 1, wherein the first transmission mechanism is belt-driven, the lifting motor (304) is connected with a lifting synchronous wheel (306), and the lifting synchronous wheel (306) is connected with the rotating wheel (303) through a lifting synchronous belt (307);
the second transmission mechanism adopts shaft transmission, the limiting motor (402) is connected with one end of the rotating shaft (405), and the limiting synchronous wheel (404) is installed on the rotating shaft (405).
8. The unmanned aerial vehicle hangar of claim 6, wherein a linear bearing is provided at the connection of the lifting platform (301) and the guide rod.
9. The unmanned aerial vehicle hangar of claim 8, wherein, taking into account the connection between the power-driven push rod and the opening/closing cover plate (200), the control method is as follows:
setting the connection points of the push rod (600) in the box body and the push rod (500) outside the box body and the connecting pieces as E and C, setting the corresponding connection points of the connecting pieces and the opening and closing cover plate (200) as E 'and C', and keeping the connecting pieces and the opening and closing cover plate (200) in a vertical relation all the time,
can rotate around C;
the opening and closing cover plate (200) is regarded as a line segment; in the movement process of the opening and closing cover plate (200), setting the edge of the box body (100) closest to the opening and closing cover plate (200) as D; the distance from C to the box body (100) is L2E is a distance L from the box body (100)1(ii) a The height of the box body (100) is h;
establishing a coordinate system, then knowing:
D(0，h)，C′(xC′，yC′)，E(-L1，YE)，C(L2，Yc)；
known as L1、L2、h、，
And
is collinear with
OD＝h；
C. D, E, C' four-point coordinates are eight, when given YcThen, there are three unknowns, xC′、yC′And YE；
(xC′-L2)2+(yC′-yc)2＝a2
because the E, D, C' three points are collinear, then:
L2 2+(h-yc)2＝a2+[xC′ 2+(h-yC′)2]
and (2) setting the included angle between the opening and closing cover plate (200) and the horizontal plane as theta, and solving the following problems according to the geometrical relation in a coordinate system:
yE＝h+L2tgθ
from the above equation, y can be obtainedC′、yEThe velocity relationship between C' and E can then be determined by deriving the relationship over time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010706623.6A CN112049497B (en) | 2020-07-21 | 2020-07-21 | Plane cover plate unmanned aerial vehicle hangar and cover plate control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010706623.6A CN112049497B (en) | 2020-07-21 | 2020-07-21 | Plane cover plate unmanned aerial vehicle hangar and cover plate control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112049497A CN112049497A (en) | 2020-12-08 |
| CN112049497B true CN112049497B (en) | 2022-01-21 |
Family
ID=73601951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010706623.6A Active CN112049497B (en) | 2020-07-21 | 2020-07-21 | Plane cover plate unmanned aerial vehicle hangar and cover plate control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112049497B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113503066B (en) * | 2021-07-27 | 2022-10-04 | 广东技术师范大学 | Building view pavilion with adjustable |
| 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 |
| CN113789901B (en) * | 2021-10-16 | 2022-12-06 | 神州建设集团有限公司 | Roof structure is built in room |
| CN114212265B (en) * | 2021-12-31 | 2022-07-01 | 蜂巢航宇科技（北京）有限公司 | Many rotor unmanned aerial vehicle hangar |
| CN115320476A (en) * | 2022-06-10 | 2022-11-11 | 浙江吉利控股集团有限公司 | Vehicle-mounted unmanned aerial vehicle's lift platform and car |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205971863U (en) * | 2016-08-02 | 2017-02-22 | 浙江水利水电学院 | Unmanned aerial vehicle balcony express delivery receiving arrangement |
| CN108657455A (en) * | 2018-04-27 | 2018-10-16 | 内蒙古工业大学 | A kind of unmanned plane automatic retraction device of HV Transmission Line Routing Inspection |
| CN109847229A (en) * | 2019-02-27 | 2019-06-07 | 三一汽车制造有限公司 | Unmanned hangar system, fire fighting truck and unmanned plane is let fly away or recycling and control method |
| CN209670434U (en) * | 2019-01-23 | 2019-11-22 | 华软科技股份有限公司 | A kind of multi-rotor unmanned aerial vehicle intelligence hangar device |
| CN209859914U (en) * | 2019-03-08 | 2019-12-27 | 福建九州宇圣科技有限公司 | Sealed container for producing electronic element |
| CN110667869A (en) * | 2019-10-11 | 2020-01-10 | 北京京东乾石科技有限公司 | Airport of stopping |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3909862B1 (en) * | 2016-07-21 | 2023-09-06 | Percepto Robotics Ltd | Method and systems of anchoring an unmanned aerial vehicle on a ground station |
| US10934019B2 (en) * | 2016-11-29 | 2021-03-02 | Easy Aerial Inc. | Unmanned aerial vehicle charging station with centering mechanism |
-
2020
- 2020-07-21 CN CN202010706623.6A patent/CN112049497B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205971863U (en) * | 2016-08-02 | 2017-02-22 | 浙江水利水电学院 | Unmanned aerial vehicle balcony express delivery receiving arrangement |
| CN108657455A (en) * | 2018-04-27 | 2018-10-16 | 内蒙古工业大学 | A kind of unmanned plane automatic retraction device of HV Transmission Line Routing Inspection |
| CN209670434U (en) * | 2019-01-23 | 2019-11-22 | 华软科技股份有限公司 | A kind of multi-rotor unmanned aerial vehicle intelligence hangar device |
| CN109847229A (en) * | 2019-02-27 | 2019-06-07 | 三一汽车制造有限公司 | Unmanned hangar system, fire fighting truck and unmanned plane is let fly away or recycling and control method |
| CN209859914U (en) * | 2019-03-08 | 2019-12-27 | 福建九州宇圣科技有限公司 | Sealed container for producing electronic element |
| CN110667869A (en) * | 2019-10-11 | 2020-01-10 | 北京京东乾石科技有限公司 | Airport of stopping |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112049497A (en) | 2020-12-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112049497B (en) | Plane cover plate unmanned aerial vehicle hangar and cover plate control method thereof | |
| CN111877827B (en) | Unmanned aerial vehicle parking garage with gathering function and control method of arc-shaped top cover of unmanned aerial vehicle parking garage | |
| CN110232736A (en) | A kind of down-hole combined mining working three-dimensional scenic fast construction method | |
| CN105109674A (en) | Intelligent landing bracket of multi-rotor aircraft as well as control system and method of intelligent landing bracket | |
| CN108401684A (en) | A kind of intelligence fruit picking and picking method | |
| CN114212265B (en) | Many rotor unmanned aerial vehicle hangar | |
| CN110821255A (en) | Parallel torsion type automatic vehicle parking deviation correcting device and deviation correcting method thereof | |
| CN206664956U (en) | A kind of multivariant undercarriage dismounting vehicle of Omni-mobile | |
| CN204956904U (en) | Many rotor crafts intelligence alighting carriage and control system thereof | |
| CN105523172B (en) | Angle of attack control system and angle of attack control method | |
| CN110847671A (en) | Vehicle chassis lifting type parking automatic deviation rectifying device and deviation rectifying method thereof | |
| CN116788546A (en) | Unmanned aerial vehicle nest compatible with parking of multiple unmanned aerial vehicles of different models and parking method | |
| CN208875982U (en) | Bi-directional synchronization folding Curtain assembly suitable for smart home | |
| CN116544828A (en) | Inspection equipment for power distribution station and inspection method thereof | |
| CN214778756U (en) | Industrial vehicle for realizing operation and posture conversion of assembled product | |
| CN113524105A (en) | Aircraft wing multi-angle freely adjusts assembly quality | |
| CN113002797B (en) | Crop yield estimation system adopting unmanned aerial vehicle remote sensing technology | |
| CN213086598U (en) | Unmanned aerial vehicle take-off and landing platform and building | |
| CN211549014U (en) | Parallel torsion type automatic deviation correcting device for vehicle parking | |
| CN107757864A (en) | One kind is taken photo by plane unmanned plane | |
| CN206691468U (en) | Case unpacker fold device | |
| CN113148211A (en) | Automatic storage bin of unmanned aerial vehicle with centre gripping fuselage and rotor function that opens and shuts | |
| CN218797061U (en) | Baking finish lamp convenient to adjust | |
| CN220662862U (en) | Water-air amphibious unmanned aerial vehicle fuselage structure | |
| CN115520802B (en) | Digital attitude adjustment system for adjusting horizontal attitude of complete aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |