CN112659960A - Automatic battery replacement system for unmanned aerial vehicle - Google Patents
Automatic battery replacement system for unmanned aerial vehicle Download PDFInfo
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- CN112659960A CN112659960A CN201910980212.3A CN201910980212A CN112659960A CN 112659960 A CN112659960 A CN 112659960A CN 201910980212 A CN201910980212 A CN 201910980212A CN 112659960 A CN112659960 A CN 112659960A
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- 230000007935 neutral effect Effects 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 2
- 239000000306 component Substances 0.000 description 13
- 230000005611 electricity Effects 0.000 description 5
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- 230000004888 barrier function Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
The invention discloses an automatic battery replacement system for an unmanned aerial vehicle, which comprises: the unmanned aerial vehicle taking-off and landing platform guides the general unmanned aerial vehicle to take off and land and automatically tracks and locks the general unmanned aerial vehicle in the landing process of the general unmanned aerial vehicle; the unmanned aerial vehicle power exchanging platform is used for butt-jointing a general unmanned aerial vehicle landed on the unmanned aerial vehicle landing platform, and power exchanging is completed after butt-jointing; the lifting mechanism can integrally lift and/or rotate the unmanned aerial vehicle take-off and landing platform to a position and/or an angle at which the general unmanned aerial vehicle can take off. The automatic power switching system for the unmanned aerial vehicle can realize the autonomous taking off and landing of the unmanned aerial vehicle and power switching, so that the autonomous endurance of the fire-fighting unmanned aerial vehicle in a long-time task load can be safely, quickly and efficiently realized. This will reduce the degree of difficulty of unmanned aerial vehicle operation to a great extent.
Description
Technical Field
The invention relates to an unmanned aerial vehicle technology, in particular to an automatic battery replacement technology of an unmanned aerial vehicle.
Background
With the rapid development of unmanned aerial vehicle technology, the use of unmanned aerial vehicle in various fields is increasing day by day. The electric power line patrol is from military use to civil use and from electric power line patrol to emergency rescue. Unmanned aerial vehicle constantly stands out the horn, plays more and more important effect.
However, unmanned aerial vehicles that can hover, are flexible, and have excellent economy also have serious short boards in practical applications, especially in fire fighting applications. By the restriction of battery storage electric quantity, when carrying out each item fire control task, unmanned aerial vehicle's effective flight time is fairly limited, and the result is the battery of the very big frequent take off and land of the operation degree of difficulty and consuming the manpower and changes. Meanwhile, the fire-fighting unmanned aerial vehicle is complex in application environment, and when taking off and landing in a rugged and dusty zone, the chippings and the sand stones rolled up by the propeller can damage the core components of the unmanned aerial vehicle. Therefore, the taking-off and landing of the unmanned aerial vehicle have higher requirements on the ground conditions, which undoubtedly makes the taking-off and landing process long and high in risk. The task execution efficiency is influenced to a considerable extent, and the capability of the unmanned aerial vehicle for executing the task in the fire-fighting background is limited.
From this, one kind can let fire control unmanned aerial vehicle no matter round clock, chills and hotly, can accomplish automatic take off and land, independently work, the automatic electricity of trading at the fire control roof of keeping away from ground, whole journey does not need artificial intervention, and the task platform that has the logistics guarantee will bring great improvement to this current situation and fire fighter operation experience, also is the problem that this field needs to solve urgently.
Disclosure of Invention
To the problem that current fire control unmanned aerial vehicle exists in the in-service use, need a scheme that can realize that unmanned aerial vehicle trades the electricity automatically.
Therefore, the invention aims to provide an automatic power switching system for an unmanned aerial vehicle, so as to realize automatic lifting and landing of the unmanned aerial vehicle and power switching.
In order to achieve the above object, the present invention provides an automatic battery replacement system for an unmanned aerial vehicle, comprising:
a general-purpose unmanned aerial vehicle;
the unmanned aerial vehicle taking-off and landing platform guides the general unmanned aerial vehicle to take off and land, and automatically tracks and locks the general unmanned aerial vehicle in the landing process of the general unmanned aerial vehicle;
the unmanned aerial vehicle power exchanging platform is used for butting a general unmanned aerial vehicle landing on the unmanned aerial vehicle landing platform and completing power exchanging after butting;
the lifting mechanism can integrally lift and/or rotate the unmanned aerial vehicle take-off and landing platform to a position and/or an angle at which the general unmanned aerial vehicle can take off.
Further, the unmanned aerial vehicle take-off and landing platform automatically tracks and locks the universal unmanned aerial vehicle in 2-axis motion in a plane in the landing process of the universal unmanned aerial vehicle.
Further, unmanned aerial vehicle take off and land platform is at general unmanned aerial vehicle descending in-process, remains throughout almost concentric, with the angle with the unmanned aerial vehicle undercarriage.
Further, after the unmanned aerial vehicle takes off and land the platform and land general unmanned aerial vehicle, realize returning to the meso position to general unmanned aerial vehicle.
Further, the unmanned aerial vehicle battery replacement platform comprises a docking function component, a battery grabbing mechanism, a multi-axis mechanical arm and an intelligent charging base, wherein the docking function component docks a general unmanned aerial vehicle landed on the unmanned aerial vehicle taking-off and landing platform; the multi-axis mechanical arm drives the battery grabbing mechanism to grab the general unmanned aerial vehicle and insert the general unmanned aerial vehicle into the intelligent charging warehouse; the multi-axis mechanical arm drives the battery grabbing mechanism to grab the battery from the intelligent charging warehouse and insert the battery into the universal unmanned aerial vehicle.
Further, when docking the general unmanned aerial vehicle, the docking function component docks the power battery on the general unmanned aerial vehicle simultaneously to battery unlocking switch on the general unmanned aerial vehicle is connected in the control.
Furthermore, the battery grabbing mechanism can be used for simultaneously butting two groups of power batteries.
Further, the multi-axis mechanical arm is a 3-axis mechanical arm.
Furthermore, the intelligent charging warehouse bears a plurality of groups of power batteries and automatically discharges power batteries which are not used in a preset time.
Further, the lifting mechanism comprises a lifting platform and a driving mechanism, and the lifting platform bears the unmanned aerial vehicle lifting platform and the unmanned aerial vehicle battery replacement platform; the driving mechanism drives the lifting platform to perform lifting motion.
The automatic power switching system for the unmanned aerial vehicle can realize the autonomous taking off and landing of the unmanned aerial vehicle and power switching, so that the autonomous endurance of the fire-fighting unmanned aerial vehicle in a long-time task load can be safely, quickly and efficiently realized. This will reduce the degree of difficulty of unmanned aerial vehicle operation to a great extent. And a solid foundation is laid for further effective application in the fire-fighting industry. Meanwhile, the perfection, systematization and intellectualization of the unmanned aerial vehicle system suitable for special tasks and environmental requirements in the fire fighting field can be promoted.
Drawings
The invention is further described below in conjunction with the appended drawings and the detailed description.
Fig. 1 is a diagram illustrating an exemplary structure of an automatic battery replacement system for an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 2 is a schematic structural diagram of a take-off and landing platform of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an unmanned aerial vehicle battery replacement platform in the embodiment of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
This example is directed against fire control unmanned aerial vehicle's working characteristics, provides an automatic electric system scheme that trades of unmanned aerial vehicle, and it can let fire control unmanned aerial vehicle no matter round the clock, the chills and hots, can accomplish automatic take off and land, independently work, trade the electricity automatically at the fire control roof of keeping away from ground to whole journey does not need artificial intervention, has the task platform of logistics support.
Referring to fig. 1, a composition example of the unmanned aerial vehicle automatic battery replacement system according to the present example is shown. As can be seen from the figure, the automatic unmanned aerial vehicle battery replacing system 100 mainly includes a general unmanned aerial vehicle 110, an unmanned aerial vehicle take-off and landing platform 120, an unmanned aerial vehicle battery replacing platform 130, and a lifting and unfolding mechanism 140.
The unmanned aerial vehicle take-off and landing platform 120 is used for guiding the general unmanned aerial vehicle 110 to take off and land, and automatically tracking and locking the general unmanned aerial vehicle in the landing process of the general unmanned aerial vehicle; the unmanned aerial vehicle battery replacement platform 130 is used for docking the general unmanned aerial vehicle landed on the unmanned aerial vehicle landing platform after the general unmanned aerial vehicle landed, and completing battery replacement after docking; the lifting deployment mechanism 140 integrally lifts and/or rotates the unmanned aerial vehicle take-off and landing platform to a position and/or angle at which the general unmanned aerial vehicle can take off after the unmanned aerial vehicle battery replacement platform 130 completes battery replacement of the general unmanned aerial vehicle 110.
The general unmanned aerial vehicle 110 in the system is used as a general aerial vehicle, and adopts a safe and reliable constitution scheme. Moreover, the general unmanned aerial vehicle 110 in the system also has the capability of carrying visible light and infrared double cameras, and has the capability of autonomous flight, barrier and downward landing. Moreover, this general unmanned aerial vehicle 110 adopts the double cell power supply, realizes automatic incessant power change, and this general unmanned aerial vehicle 110's shell protection level IP43, tentatively dustproof the water that drains moreover.
This unmanned aerial vehicle take-off and landing platform 120 specifically sets up on lift deployment mechanism 140, and accurate take-off and landing platform both is the key tie of connecting between unmanned aerial vehicle and the unmanned aerial vehicle trades electric platform 130, is the fixed platform when fire engine carries on unmanned aerial vehicle again, still takes off simultaneously every time and descends the only reference surface of unmanned aerial vehicle.
The unmanned aerial vehicle take-off and landing platform 120 in this example can guide the unmanned aerial vehicle to fly to a take-off and landing target at the end of the automatic return voyage of the unmanned aerial vehicle;
this unmanned aerial vehicle take off and land platform 120 can be in unmanned aerial vehicle apart from the predetermined distance above the platform that takes off and land, automatic tracking locking unmanned aerial vehicle to 2 axle movements in the plane at unmanned aerial vehicle descending in-process.
This unmanned aerial vehicle take-off and landing platform 120 is at general unmanned aerial vehicle 110 descending in-process, remains throughout almost concentric, with the angle with the unmanned aerial vehicle undercarriage.
The unmanned aerial vehicle take-off and landing platform 120 returns the neutral position of the general unmanned aerial vehicle 11 after the general unmanned aerial vehicle 110 lands.
Referring to fig. 2, it is shown that the unmanned aerial vehicle taking-off and landing platform 120 in this example is mainly formed by a movable support frame 121, a landing platform 122 arranged on the support frame, and a plurality of sets of clamping assemblies 123 arranged on the landing platform 122.
The movable supporting frame 121 is used for supporting other components and can drive the components mounted thereon to move in the 2-axis direction.
The landing platform 122 is used to guide the general-purpose drone 110 to land and carry the general-purpose drone 110. The landing platform 122 is formed in a disk shape as a whole, is integrally mounted on the movable support frame 121, and is driven by the movable support frame 121 to move in the 2-axis direction.
Several sets of the clamping assemblies 123 are equally circumferentially disposed on the landing platform 122, and each set of the clamping assemblies 123 can move toward the center of the landing platform 122 in the radial direction of the landing platform 122. The sets of gripping assemblies 123 are simultaneously movable radially toward the center of the landing platform 122.
When the unmanned aerial vehicle take-off and landing platform 120 formed by the method runs, the landing platform 122 guides the unmanned aerial vehicle to fly to a take-off and landing target at the tail section of automatic return of the unmanned aerial vehicle; and in the unmanned aerial vehicle landing process, the movable support frame 121 drives the landing platform 122 to move in the plane by 2 axes so as to cooperate with the landing of the unmanned aerial vehicle.
On unmanned aerial vehicle automatic landing is on descending platform 122, a plurality of groups of clamping component 12 on descending platform 122 then move along radial orientation to the center of descending platform 122 in step, then from synchronous drive unmanned aerial vehicle all around towards the center of descending platform 122 removal, then realize returning to the neutral position and fix the unmanned aerial vehicle that descends.
The unmanned aerial vehicle trades electric platform 130 in this example sets up on lift deployment mechanism 140 for unmanned aerial vehicle platform 120 that takes off and land. This unmanned aerial vehicle trades electric platform 130 can take off and land platform 120 cooperation with unmanned aerial vehicle, at the unmanned aerial vehicle electric quantity not enough and accomplish automatic back of sailing backward at every turn, trade the electric platform by taking off and land platform with automatic accurate drive unmanned aerial vehicle and this unmanned aerial vehicle and dock, trade the electric action to unmanned aerial vehicle after realizing the butt joint.
This unmanned aerial vehicle trades electric platform 130 mainly accomplishes trading electric, accumulate, charging and battery maintenance to unmanned aerial vehicle. By way of example, referring to fig. 3, the unmanned aerial vehicle battery swapping platform 130 is mainly formed by a docking function component 131, a battery grabbing mechanism 132, a multi-axis mechanical arm 133 and an intelligent charging library 134, which are matched with each other. The docking functional component 131 docks the general unmanned aerial vehicle landing on the unmanned aerial vehicle landing platform; the multi-axis mechanical arm 133 drives the battery grabbing mechanism 132 to grab the general unmanned aerial vehicle and insert the general unmanned aerial vehicle into the intelligent charging warehouse 134; meanwhile, the multi-axis mechanical arm 133 drives the battery grabbing mechanism 132 to grab the battery from the intelligent charging warehouse 134 and insert the battery into the universal unmanned aerial vehicle; the intelligent charging repository 134 here is used for power storage, charging and battery maintenance.
The power switching component 131 in this example can realize high-precision docking of the unmanned aerial vehicle in the power switching stage after the unmanned aerial vehicle is guided to complete landing; furthermore, this connect functional component 131 when accurate butt joint unmanned aerial vehicle, butt joint 2 groups of power battery to can press/release unmanned aerial vehicle battery unlock switch.
This connect functional component 131 can trade the electric stage at automatic unmanned aerial vehicle that stabilizes after docking unmanned aerial vehicle.
The battery capture mechanism 132 in this example is capable of precisely docking 2 groups of power batteries and securing/releasing the batteries during the automatic battery change phase.
The multi-axis robot 133 in this example is a digital three-axis robot, and the specific configuration is determined according to actual requirements.
The intelligent charging warehouse 134 in this embodiment is a frame structure, and can store multiple sets of power batteries, charge the stored multiple sets of power batteries, and fix/release the corresponding power batteries during the charging phase.
Moreover, the intelligent charging bank 134 can enable the unused batteries to enter an automatic discharging mode within a certain time, so as to ensure that the batteries are not damaged.
The intelligent charging warehouse 134 is further designed with battery level and charging state observation hole sites as required.
When the unmanned aerial vehicle that from this constitutes trades electric platform 130 moves, at first carry out accurate butt joint to the unmanned aerial vehicle that descends on unmanned aerial vehicle take off and land platform 120 by connecing functional component 131, and after accomplishing the butt joint, 3 arms 133 will be driven and the battery is driven and is snatched mechanism 132 and snatch the single battery in 2 batteries of unmanned aerial vehicle, in order to guarantee to trade the overall process of electricity at unmanned aerial vehicle, a battery supplies power in unmanned aerial vehicle inside all the time, the normal operating of unmanned aerial vehicle standby function is waited for, avoid at complicacy, restart under the special environment.
After the battery is grabbed, the 3-axis robotic arm 133 moves and inserts it into the smart charging vault 134 and then inserts a new battery into the drone through the reverse process.
The replaced battery pack and other standby battery packs are stored in the intelligent charging warehouse, and the intelligent charging warehouse is used for charging the replaced battery for standby.
The lift deployment mechanism 140 in this example employs a vertical lift deployment approach to vertically push the generic drone 110 landing on the drone landing platform 120 to a height suitable for the drone to self-launch.
Referring to fig. 1, an example of the composition of the elevation deployment mechanism 140 in this example is shown. As can be seen, the lifting and unfolding mechanism 140 is mainly formed by a supporting frame 141, a lifting platform 142 and a driving mechanism 143.
The lifting platform 142 is integrally movably disposed in the supporting frame 141 for carrying other components. The lifting platform 142 is a flat plate structure as a whole to ensure the reliability of other arrangements.
The driving mechanism 143 is disposed on the supporting frame 141 and integrally drives the lifting platform 142 to perform vertical lifting movement in the supporting frame 141. The driving mechanism 143 may be constructed in a worm elevating structure to ensure structural stability and reliability.
The lift deployment mechanism 140 of structure so when moving, trade the electric back to descending general unmanned aerial vehicle 110 on unmanned aerial vehicle take-off and landing platform 120 at unmanned aerial vehicle trade electric platform 130 completion, actuating mechanism 143 will drive the unmanned aerial vehicle take-off and landing platform 142 and drive unmanned aerial vehicle that settle on it take-off and landing platform 120 and unmanned aerial vehicle trade electric platform 130 along the whole vertical lift of support frame 141, then will descend the unmanned aerial vehicle 110 on unmanned aerial vehicle take-off and landing platform 120 to rise to the height of being convenient for take off by oneself.
After the unmanned aerial vehicle on the unmanned aerial vehicle take-off and landing platform 120 finishes taking off, the driving mechanism 143 drives the lifting platform 142 to drive the unmanned aerial vehicle take-off and landing platform 120 and the unmanned aerial vehicle battery replacing platform 130 which are arranged on the lifting platform to vertically descend to the initial position along the whole supporting frame 141, so that the unmanned aerial vehicle can be automatically replaced with electricity.
In addition, after the driving mechanism 143 in the lifting deployment mechanism 140 drives the lifting platform 142 to reach a certain height, the lifting platform 142 can be driven to rotate at a certain angle in the horizontal direction, so as to adjust the direction of the unmanned aerial vehicle for takeoff.
The lifting and unfolding mechanism 140 formed in this way is stable and reliable in overall structural performance, convenient to install and debug and good in practicability.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. Automatic battery replacement system of unmanned aerial vehicle, its characterized in that includes:
a general-purpose unmanned aerial vehicle;
the unmanned aerial vehicle taking-off and landing platform guides the general unmanned aerial vehicle to take off and land, and automatically tracks and locks the general unmanned aerial vehicle in the landing process of the general unmanned aerial vehicle;
the unmanned aerial vehicle power exchanging platform is used for butting a general unmanned aerial vehicle landing on the unmanned aerial vehicle landing platform and completing power exchanging after butting;
the lifting mechanism can integrally lift and/or rotate the unmanned aerial vehicle take-off and landing platform to a position and/or an angle at which the general unmanned aerial vehicle can take off.
2. The unmanned aerial vehicle automatic power switching system of claim 1, wherein the unmanned aerial vehicle take-off and landing platform automatically tracks and locks the unmanned aerial vehicle in 2-axis motion in a plane during landing of the unmanned aerial vehicle.
3. The unmanned aerial vehicle automatic power switching system of claim 1, wherein the unmanned aerial vehicle take-off and landing platform is always kept almost concentric and at the same angle with an unmanned aerial vehicle undercarriage during landing of the general unmanned aerial vehicle.
4. The automatic power switching system for unmanned aerial vehicles according to claim 1, wherein the unmanned aerial vehicle take-off and landing platform is used for returning to the neutral position of the general unmanned aerial vehicle after the general unmanned aerial vehicle lands.
5. The unmanned aerial vehicle automatic power switching system of claim 1, wherein the unmanned aerial vehicle power switching platform comprises a docking functional component, a battery grabbing mechanism, a multi-axis mechanical arm and an intelligent charging warehouse, and the docking functional component docks a general unmanned aerial vehicle landing on the unmanned aerial vehicle take-off and landing platform; the multi-axis mechanical arm drives the battery grabbing mechanism to grab the general unmanned aerial vehicle and insert the general unmanned aerial vehicle into the intelligent charging warehouse; the multi-axis mechanical arm drives the battery grabbing mechanism to grab the battery from the intelligent charging warehouse and insert the battery into the universal unmanned aerial vehicle.
6. The automatic power switching system for the unmanned aerial vehicle as claimed in claim 5, wherein the docking function module simultaneously docks the power battery on the universal unmanned aerial vehicle and controls and connects the battery unlocking switch on the universal unmanned aerial vehicle when docking the universal unmanned aerial vehicle.
7. The unmanned aerial vehicle automatic power switching system of claim 5, wherein the battery grasping mechanism can simultaneously dock two sets of power batteries.
8. The unmanned aerial vehicle auto-change power system of claim 5, wherein the multi-axis robotic arm is a 3-axis robotic arm.
9. The unmanned aerial vehicle automatic battery replacement system according to claim 5, wherein a plurality of groups of power batteries are carried on the intelligent charging warehouse, and automatic discharging is performed on the power batteries which are not used in a preset time.
10. The unmanned aerial vehicle automatic power switching system of claim 1, wherein the lifting mechanism comprises a lifting platform and a driving mechanism, the lifting platform bears the unmanned aerial vehicle take-off and landing platform and the unmanned aerial vehicle power switching platform; the driving mechanism drives the lifting platform to perform lifting motion.
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| CN201910980212.3A CN112659960A (en) | 2019-10-15 | 2019-10-15 | Automatic battery replacement system for unmanned aerial vehicle |
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