CN113060301A - Unmanned aerial vehicle hangar and unmanned aerial vehicle parking system - Google Patents
Unmanned aerial vehicle hangar and unmanned aerial vehicle parking system Download PDFInfo
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- CN113060301A CN113060301A CN202110344046.5A CN202110344046A CN113060301A CN 113060301 A CN113060301 A CN 113060301A CN 202110344046 A CN202110344046 A CN 202110344046A CN 113060301 A CN113060301 A CN 113060301A
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- 210000001503 joint Anatomy 0.000 claims description 4
- 238000003032 molecular docking Methods 0.000 claims description 3
- 230000003313 weakening effect Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 230000011664 signaling Effects 0.000 claims 1
- 230000005389 magnetism Effects 0.000 abstract description 34
- 238000000034 method Methods 0.000 description 26
- 230000008569 process Effects 0.000 description 21
- 230000009471 action Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000003028 elevating effect Effects 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
- B64F1/222—Ground or aircraft-carrier-deck installations for handling aircraft for storing aircraft, e.g. in hangars
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/44—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages for storing aircraft
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Abstract
The application provides an unmanned aerial vehicle hangar and an unmanned aerial vehicle parking system, wherein the unmanned aerial vehicle hangar comprises a base, a hangar body, an mechanical arm and a magnetic suction device, wherein the hangar body is arranged on the base and used for storing an unmanned aerial vehicle; one end of the mechanical arm is arranged on the base, the other end of the mechanical arm is a grabbing end, and the mechanical arm can drive the grabbing end to move in a preset range so that the grabbing end can move into or out of the hangar body; magnetism is inhaled the device and is set up and snatching the end for absorb unmanned aerial vehicle. This unmanned aerial vehicle hangar simple structure, the power consumption is less, can realize unmanned aerial vehicle's quick warehouse entry and exit.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle hangar and an unmanned aerial vehicle parking system.
Background
The unmanned aerial vehicle has an emerging application, particularly the automatic take-off and landing of the micro unmanned aerial vehicle is popularized and applied in the fields of forest fire prevention inspection, frontier defense patrol, pollution source general survey, fixed-point real-time monitoring and the like, the unmanned aerial vehicle can be automatically taken off and landed in a timed and routing manner, and great convenience is brought to work.
Unmanned aerial vehicle need berth in the hangar and charge after working a period, but current unmanned aerial vehicle hangar adopts the elevating platform to realize unmanned aerial vehicle's the warehouse entry and exit more, but the structure of elevating platform is comparatively complicated, and then makes unmanned aerial vehicle hangar overall structure complicated, and is bulky, and the power consumption is high.
Disclosure of Invention
An object of the embodiment of the application is to provide an unmanned aerial vehicle hangar and unmanned aerial vehicle system of berthhing, this unmanned aerial vehicle hangar simple structure, it is less to consume energy, can realize unmanned aerial vehicle's quick warehouse entry and exit.
The embodiment of the application provides an unmanned aerial vehicle hangar, which comprises a base, a hangar body, a mechanical arm and a magnetic suction device, wherein the hangar body is arranged on the base and used for storing an unmanned aerial vehicle; one end of the mechanical arm is arranged on the base, the other end of the mechanical arm is a grabbing end, and the mechanical arm can move within a preset range so that the grabbing end can move into or out of the hangar body; magnetism is inhaled the device and is set up snatch the end for absorb unmanned aerial vehicle.
In the above-mentioned realization process, compare in current elevating platform structure, the warehousing and the ex-warehouse of unmanned aerial vehicle are realized to above-mentioned unmanned aerial vehicle hangar through setting up arm cooperation magnetism device, can effectively simplify the structure of unmanned aerial vehicle hangar, reduce the weight of whole unmanned aerial vehicle hangar, and the less arm swing of motor drive volume, the power consumption is less, and adopt magnetism to inhale the device and absorb unmanned aerial vehicle, can realize that the arm is to unmanned aerial vehicle's quick accurate snatching, effectively improve unmanned aerial vehicle's warehouse entry efficiency.
In a possible implementation manner, the unmanned aerial vehicle hangar further comprises a positioning device and a control system, wherein the positioning device is arranged on the grabbing end of the mechanical arm and used for positioning the unmanned aerial vehicle and generating a positioning signal; the control system is in communication connection with the positioning device and the mechanical arm and used for receiving the positioning signals and controlling the mechanical arm to move to grab the unmanned aerial vehicle according to the positioning signals.
In the above-mentioned realization process, above-mentioned unmanned aerial vehicle hangar can realize the unmanned aerial vehicle that the tracking of high accuracy hovered through setting up positioner and control system, and positioner and control system cooperation magnetism inhale the device, can realize snatching unmanned aerial vehicle fast and accurately.
In a possible implementation manner, the grabbing end of the mechanical arm is provided with a first charging contact, the unmanned aerial vehicle is provided with a second charging contact matched with the first charging contact, and when the magnetic attraction device sucks the unmanned aerial vehicle, the first charging contact is in butt joint with the first charging contact.
In the above-mentioned realization in-process, when the arm grabs unmanned aerial vehicle, when the device is inhaled to magnetism promptly and lives unmanned aerial vehicle, the first contact that charges on the grabbing end of arm and the second contact butt joint that charges on the unmanned aerial vehicle charge, charge unmanned aerial vehicle, once the action of arm can realize simultaneously grabbing, charging to unmanned aerial vehicle promptly, simple structure, the action is high-efficient.
In a possible implementation manner, the above-mentioned unmanned aerial vehicle hangar further comprises a release device, which is disposed on the mechanical arm and is used for weakening or eliminating the magnetism of the magnetic attraction device to release the unmanned aerial vehicle.
In the above-mentioned realization process, after unmanned aerial vehicle finishes charging in the hangar body, the arm removes to lift unmanned aerial vehicle this external to the hangar, and unmanned aerial vehicle starts the screw, and release weakens or eliminates magnetism of inhaling the device of inhaling, makes magnetism inhale the device and reduce or lose the about power to unmanned aerial vehicle, and unmanned aerial vehicle takes off under screw pivoted lift effect. If not set up release, unmanned aerial vehicle then need start the screw and produce great lift in order to break away from magnetism and inhale the device, can weaken unmanned aerial vehicle and break away from the degree of difficulty of arm through setting up release, realizes that unmanned aerial vehicle breaks away from the arm smoothly.
In a possible implementation manner, the magnetic attraction device includes a permanent magnet and two magnetizers that are opposite and spaced, an accommodating cavity is configured between the two magnetizers, and the permanent magnet is disposed in the accommodating cavity and can rotate in the accommodating cavity; when two poles of the permanent magnet are respectively contacted with the two magnetizers, the magnetic attraction device generates magnetic attraction force outwards; when two poles of the permanent magnet are both contacted with the two magnetizers simultaneously, the magnetic attraction device loses magnetic attraction force; the release device is connected to the permanent magnet and used for driving the permanent magnet to rotate in the accommodating cavity.
In the above-mentioned realization process, above-mentioned unmanned aerial vehicle hangar is inhaled the device with magnetism and is set up to the permanent magnet and rotate in the middle of two magnetizers to drive the permanent magnet through release and rotate and then realize inhaling the on-off control of device to magnetism, simple structure, convenient operation.
In a possible implementation manner, the unmanned aerial vehicle hangar further comprises a first rotating device arranged on the base, one end of the mechanical arm close to the base is connected to the first rotating device, and the mechanical arm can rotate around the first rotating device; and/or, this unmanned aerial vehicle hangar still includes to set up first pendulous device on the base, the arm is close to the one end of base connect in first pendulous device, the arm can wind first pendulous device swing.
In the implementation process, the rotation of the mechanical arm on the base can be realized by arranging the first rotating device, the swing of the mechanical arm on the base all around can be realized by arranging the first swinging device, the moving range of the mechanical arm is further enlarged, the flexibility of the mechanical arm is improved, and the mechanical arm can efficiently and accurately grab the unmanned aerial vehicle.
In a possible implementation manner, the unmanned aerial vehicle hangar further comprises a second rotating device arranged on the grabbing end, and the magnetic attraction device is arranged on the second rotating device and can rotate around the second rotating device; and/or the magnetic suction device is arranged on the second swinging device and can swing around the second swinging device in a pitching mode.
In the above-mentioned realization process, when snatching unmanned aerial vehicle, the second rotary device drives magnetism and inhales the device rotation, and the second pendulous device drives magnetism and inhales the device every single move swing, makes magnetism inhale the device and aim at unmanned aerial vehicle, accurately absorbs unmanned aerial vehicle high-efficiently, realizes unmanned aerial vehicle's snatching.
In a possible implementation manner, the mechanical arm further comprises a sliding device arranged on the base, and the mechanical arm is slidably mounted on the base through the sliding device so as to be close to or far away from the machine base body.
In the above-mentioned realization process, when snatching unmanned aerial vehicle, arm accessible slider slides in order to be close to unmanned aerial vehicle on the base. The sliding device drives the mechanical arm to be close to or far away from the machine library body, the motion range of the mechanical arm can be further enlarged under the condition that the length of the mechanical arm is certain, and then the mechanical arm can grab the unmanned aerial vehicle in a larger range.
In a possible implementation manner, the mechanical arm is arranged outside the hangar body, an opening is formed in a side plate, close to the mechanical arm, of the hangar body, and the grabbing end of the mechanical arm enters and exits the hangar body through the opening.
In the above-mentioned realization process, after the unmanned aerial vehicle was grabbed to the end of snatching of arm, the arm rotated, and the end of snatching of arm drives unmanned aerial vehicle and gets into this internally through the opening, realizes unmanned aerial vehicle's the action of putting in storage.
In a second aspect, an embodiment of the present application further provides an unmanned aerial vehicle docking system, where the unmanned aerial vehicle general reference system includes the unmanned aerial vehicle hangar described in any of the above embodiments.
In the above-mentioned realization process, adopt the unmanned aerial vehicle system of berthing of above-mentioned unmanned aerial vehicle hangar body, simple structure, convenient operation, the power consumption is lower, and can high-efficiently realize the warehouse entry of unmanned aerial vehicle and leave warehouse.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a structural diagram of an unmanned aerial vehicle hangar provided in an embodiment of the present application;
fig. 2 is a structural diagram of a state in which a magnetic attraction device according to an embodiment of the present disclosure generates a magnetic attraction force to the outside;
fig. 3 is a state structure diagram of a magnetic attraction device that loses magnetic attraction provided in the embodiment of the present application.
Icon: 100-a base; 200-hangar ontology; 210-a nacelle; 220-a hatch cover; 300-a robotic arm; 310-a grasping end; 320-magnetic attraction device; 321-a permanent magnet; 322-a magnetizer; 323-a containment chamber; 330-a positioning device; 400-a first oscillating device; 500-a second oscillating device; 600-a slide; 610-a sliding track; 620-a slide; 230-an opening; 240-rotating shaft.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
The embodiment of the application provides an unmanned aerial vehicle hangar, please refer to fig. 1, fig. 1 is a structure diagram of the unmanned aerial vehicle hangar provided by the embodiment of the application, the unmanned aerial vehicle hangar comprises a base 100, a hangar body 200, a mechanical arm 300 and a magnetic suction device 320, wherein the hangar body 200 is arranged on the base 100 and used for storing an unmanned aerial vehicle; one end of the robot 300 is disposed on the base 100, and the other end is a gripping end 310, and the robot 300 can move within a preset range so that the gripping end 310 can move into the hangar body 200 or move out of the hangar body 200; magnetic attraction device 320 is arranged at grabbing end 310 for absorb the unmanned aerial vehicle.
In the above-mentioned implementation process, when there is unmanned aerial vehicle to wait for to get into the hangar near the unmanned aerial vehicle hangar, arm 300 moves in predetermineeing the within range and makes and snatch end 310 and be close to unmanned aerial vehicle, after magnetism device 320 is close to unmanned aerial vehicle to within the predetermined distance, the predetermined distance is 5-10mm, magnetism device 320 absorbs unmanned aerial vehicle, make unmanned aerial vehicle fix the end 310 of snatching at arm 300, accomplish snatching of arm 300 to unmanned aerial vehicle promptly, then snatch end 310 and remove and charge in hangar body 200, treat that unmanned aerial vehicle charges and finish the back, arm 300 removes and makes and snatch end 310 and remove outside hangar body 200, unmanned aerial vehicle starts the screw and produces certain lift and shake off magnetism device 320 and take off, accomplish unmanned aerial vehicle's release promptly, vacate in the hangar body 200 this moment, wait.
Can know, compare in current elevating platform structure, above-mentioned unmanned aerial vehicle hangar is through setting up arm 300 cooperation magnetism inhale device 320 and realize unmanned aerial vehicle's income storehouse and delivery, can effectively simplify the structure of unmanned aerial vehicle hangar, reduce the weight of whole unmanned aerial vehicle hangar, and the less arm 300 swing of motor drive volume, the power consumption is less, and adopt magnetism inhale device 320 and absorb unmanned aerial vehicle, can realize arm 300 and to unmanned aerial vehicle's quick accurate snatching, effectively improve unmanned aerial vehicle's the warehouse entry efficiency of going out.
It should be noted that the preset range refers to a moving range within which the grabbing end 310 can place the unmanned aerial vehicle into the hangar body 200 or remove the unmanned aerial vehicle from the hangar body 200.
In a possible implementation manner, the unmanned aerial vehicle hangar further includes a positioning device 330 and a control system, wherein the positioning device 330 is disposed on the grabbing end 310 of the mechanical arm 300, and is used for positioning the unmanned aerial vehicle and generating a positioning signal; the control system is communicatively connected to the positioning device 330 and the robot arm 300, and is configured to receive the positioning signal and control the robot arm 300 to move according to the positioning signal so as to grasp the drone.
In the above-mentioned implementation process, when positioner 330 fixes a position near unmanned aerial vehicle hangar and has unmanned aerial vehicle to wait for the berth, positioner 330 generates positioning signal to send positioning signal to control system, control system receives behind the positioning signal according to positioning signal control arm 300 and removes, arm 300 removes, treat to snatch when end 310 removes near unmanned aerial vehicle, magnetism is inhaled device 320 and is drawn unmanned aerial vehicle, and then the realization is to snatching of unmanned aerial vehicle.
It can know, above-mentioned unmanned aerial vehicle hangar can realize the unmanned aerial vehicle that the tracking of high accuracy hovered through setting up positioner 330 and control system, and positioner 330 and control system cooperation magnetism inhale device 320, can realize snatching unmanned aerial vehicle fast and accurately.
In some embodiments, the positioning device 330 may employ a visual positioning device 330, such as a positioning camera, or a laser positioning device 330, an infrared positioning device 330, etc., which are not limited in this application.
In a possible implementation manner, a first charging contact is arranged on the grabbing end 310 of the mechanical arm 300, a second charging contact adapted to the first charging contact is arranged on the unmanned aerial vehicle, and when the magnetic attraction device 320 attracts the unmanned aerial vehicle, the first charging contact is in butt joint with the first charging contact.
In the above-mentioned implementation process, when the arm 300 grabs unmanned aerial vehicle, inhale device 320 promptly and suck when living unmanned aerial vehicle, the first contact that charges on the end 310 of snatching of arm 300 docks with the second contact that charges on the unmanned aerial vehicle, charges unmanned aerial vehicle, and the action of arm 300 can realize simultaneously snatching, charging to unmanned aerial vehicle promptly, simple structure, and the action is high-efficient.
In a possible implementation manner, the above-mentioned unmanned aerial vehicle hangar further includes a releasing device, which is disposed on the mechanical arm 300, and is used for weakening or eliminating the magnetism of the magnetic attraction device 320 to release the unmanned aerial vehicle.
At the above-mentioned in-process of realizing, after unmanned aerial vehicle finishes charging in hangar body 200, arm 300 removes to lift unmanned aerial vehicle outside hangar body 200, and unmanned aerial vehicle starts the screw, and release weakens or eliminates magnetism of magnetism device 320 of inhaling, makes magnetism inhale that device 320 reduces or loses the about power to unmanned aerial vehicle, and unmanned aerial vehicle takes off under screw pivoted lift effect. If not set up release, unmanned aerial vehicle need start the screw and produce great lift in order to break away from magnetism and inhale device 320, can weaken the unmanned aerial vehicle and take off the degree of difficulty of mechanical arm 300 through setting up release, realizes that unmanned aerial vehicle takes off mechanical arm 300 smoothly.
In a possible implementation manner, please refer to fig. 2 and fig. 3, fig. 2 is a structural diagram of a state in which a magnetic attraction device according to an embodiment of the present disclosure generates a magnetic attraction force; fig. 3 is a state structure diagram of a magnetic attraction device that loses magnetic attraction provided in the embodiment of the present application. The magnetic attraction device 320 comprises a permanent magnet 321 and two magnetizers 322 which are opposite and arranged at intervals, an accommodating cavity 323 is configured between the two magnetizers 322, and the permanent magnet 321 is arranged in the accommodating cavity 323 and can rotate in the accommodating cavity 323; when two poles of the permanent magnet 321 are respectively contacted with the two magnetizers 322, the magnetic attraction device 320 generates a magnetic attraction force to the outside; when two poles of the permanent magnet 321 simultaneously contact two magnetizers 322, the magnetic attraction device 320 loses magnetic attraction force; the release device is connected to the permanent magnet 321, and is configured to drive the permanent magnet 321 to rotate in the accommodating cavity 323.
In the above-mentioned realization process, when needs arm 300 snatched unmanned aerial vehicle, driven permanent magnet 321 through release and rotated, made the two poles of the earth of permanent magnet 321 respectively with two magnetizers 322 contacts, two magnetizers 322 one is the S utmost point, another is the N utmost point, the whole that permanent magnet 321 and two magnetizers 322 formed this moment is a device that has magnetism, produces magnetic attraction outward, and then can inhale unmanned aerial vehicle. When needs release unmanned aerial vehicle, unmanned aerial vehicle starts the screw and rotates, then drive permanent magnet 321 through release and rotate, two poles of the earth of messenger permanent magnet 321 contact two magnetizers 322 simultaneously, each utmost point of permanent magnet 321 contacts with two magnetizers 322 simultaneously promptly, this moment, two magnetizer 322's polarity is the same, and by the neutralization in another magnetic pole of self, consequently, magnetism is inhaled device 320 and is whole not to present positive negative pole outward, magnetism is inhaled device 320 and is lost magnetic attraction, lose the confining force to unmanned aerial vehicle, unmanned aerial vehicle takes off under the effect of lift this moment.
Above-mentioned unmanned aerial vehicle hangar is inhaled device 320 with magnetism and is set up to permanent magnet 321 and rotate in the middle of two magnetizers 322 to drive permanent magnet 321 through release and rotate and then realize inhaling the on-off control of device 320, simple structure, convenient operation.
Optionally, the release device is a servo motor, an output shaft of the servo motor is connected to the permanent magnet 321 to drive the permanent magnet 321 to rotate, and the rotation angle of the permanent magnet 321 can be controlled by controlling the rotation angle of the output shaft of the driving motor.
In a possible implementation manner, the unmanned aerial vehicle hangar further includes a first rotating device disposed on the base 100, one end of the mechanical arm 300 near the base 100 is connected to the first rotating device, and the mechanical arm 300 can rotate around the first rotating device; and/or, the unmanned aerial vehicle hangar further comprises a first swinging device 400 arranged on the base 100, one end of the mechanical arm 300 close to the base 100 is connected to the first swinging device 400, and the mechanical arm 300 can swing around the first swinging device 400.
In the implementation process, the rotation of the mechanical arm 300 on the base 100 can be realized by arranging the first rotating device, the swing of the mechanical arm 300 on the base 100 all around can be realized by arranging the first swinging device 400, the moving range of the mechanical arm 300 is further expanded, the flexibility of the mechanical arm 300 is improved, and the mechanical arm 300 can efficiently and accurately grab the unmanned aerial vehicle.
Alternatively, the first swing device 400 is a rotating shaft structure provided on the base 100.
In a possible implementation manner, the unmanned aerial vehicle hangar further includes a second rotating device disposed on the grabbing end 310, and the magnetic attraction device 320 is disposed on the second rotating device and can rotate around the second rotating device; and/or, the magnetic suction device 320 is arranged on the second swinging device 500 and can swing around the second swinging device 500 in a pitching mode, and/or the second swinging device 500 is arranged on the grabbing end 310.
In the above-mentioned realization process, when snatching unmanned aerial vehicle, the second rotary device drives magnetism and inhales device 320 rotatory, and second pendulous device 500 drives magnetism and inhales 320 every single move swings of device, makes magnetism inhale device 320 and aim at unmanned aerial vehicle, and unmanned aerial vehicle is absorb to the accuracy high efficiency, realizes unmanned aerial vehicle's snatching.
Alternatively, the second swing device 500 is a rotating shaft structure provided at the grasping end 310.
In a possible implementation manner, the positioning device 330 is also disposed on the second rotating device and can rotate around the second rotating device, and the second rotating device drives the positioning device 330 to rotate to search the position of the unmanned aerial vehicle, so that the flexibility of the positioning device 330 is improved, and the positioning efficiency of the positioning device can be improved.
In a possible implementation manner, the robot further includes a sliding device 600 disposed on the base 100, and the robot arm 300 is slidably mounted on the base 100 through the sliding device 600 to approach or depart from the hangar body 200.
In the above-mentioned implementation process, when snatching unmanned aerial vehicle, arm 300 accessible slider 600 slides on base 100 in order to be close to unmanned aerial vehicle. The sliding device 600 drives the mechanical arm 300 to be close to or far away from the hangar body 200, so that the movement range of the mechanical arm 300 can be further expanded under the condition that the length of the mechanical arm 300 is certain, and further the mechanical arm 300 can grab the unmanned aerial vehicle in a larger range.
In one possible implementation, the sliding device 600 includes a sliding rail 610 disposed on the base 100 and a slider 620 slidable along the sliding rail 610, and an end of the robot arm 300 remote from the grasping end 310 is mounted on the slider 620.
Alternatively, the first swing device 400 and the first rotation device are disposed on the slider 620.
In a possible implementation manner, the robot 300 is disposed outside the hangar body 200, an opening 230 is formed on a side plate of the hangar body 200 close to the robot 300, and the grabbing end 310 of the robot 300 enters and exits the hangar body 200 through the opening 230.
In the implementation process, after the grabbing end 310 of the mechanical arm 300 grabs the unmanned aerial vehicle, the mechanical arm 300 rotates, and the grabbing end 310 of the mechanical arm 300 drives the unmanned aerial vehicle to enter the hangar body 200 through the opening 230, so that the unmanned aerial vehicle can enter the hangar.
In one possible implementation, the hangar body 200 includes a cabin 210 and a hatch 220, the cabin 210 includes a hatch, and the hatch 220 is disposed at the hatch for closing or opening the hatch.
In a possible implementation manner, the hangar body 200 further includes a driving device, the driving device is connected to the hatch 220 and is used for driving the hatch 220 to open or close, and the driving device is communicatively connected to the control system.
When the control system receives that an unmanned aerial vehicle needs to stop near the hangar body 200, the control system controls the driving device to automatically open the hatch cover 220, and when the unmanned aerial vehicle enters the cabin 210, the control system controls the driving device to automatically close the hatch cover 220.
In one possible implementation, a slide is provided at a hatch of the nacelle 210, and the hatch 220 is slidable along the slide to close or open the hatch.
In a possible implementation manner, a hatch edge of the nacelle 210 is provided with a rotating shaft 240, and a side edge of the hatch 220 is connected to the rotating shaft 240 and can be rotated by the rotating shaft 240 to close or open the hatch.
In some embodiments, the driving device is a motor that drives the rotation shaft 240 to rotate.
In a second aspect, an embodiment of the present application further provides an unmanned aerial vehicle docking system, where the unmanned aerial vehicle general reference system includes the unmanned aerial vehicle hangar described in any of the above embodiments.
In the implementation process, the unmanned aerial vehicle parking system adopting the unmanned aerial vehicle hangar body 200 is simple in structure, convenient to operate, low in energy consumption and capable of efficiently achieving storage and delivery of unmanned aerial vehicles.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. An unmanned aerial vehicle hangar, comprising:
a base;
the hangar body is arranged on the base and used for storing the unmanned aerial vehicle;
the mechanical arm is arranged on the base, one end of the mechanical arm is a grabbing end, and the mechanical arm can move within a preset range so that the grabbing end can move into the hangar body or move out of the hangar body;
the magnetic suction device is arranged at the grabbing end and used for sucking the unmanned aerial vehicle.
2. The unmanned aerial vehicle hangar of claim 1, further comprising a positioning device disposed on the grasping end of the robotic arm for positioning the unmanned aerial vehicle and generating a positioning signal;
and the control system is in communication connection with the positioning device and the mechanical arm and is used for receiving the positioning signal and controlling the mechanical arm to move to grab the unmanned aerial vehicle according to the positioning signal.
3. The unmanned aerial vehicle hangar of claim 1, wherein the grasping end of the mechanical arm is provided with a first charging contact, the unmanned aerial vehicle is provided with a second charging contact adapted to the first charging contact, and when the magnetic attraction device attracts the unmanned aerial vehicle, the first charging contact is in butt joint with the first charging contact.
4. The unmanned aerial vehicle hangar of claim 1, further comprising a release device disposed on the robotic arm for weakening or eliminating the magnetic properties of the magnetic attraction device to release the unmanned aerial vehicle.
5. The unmanned aerial vehicle hangar of claim 4, wherein the magnetic attraction device comprises a permanent magnet and two magnetizers arranged oppositely and at intervals, an accommodating cavity is configured between the two magnetizers, and the permanent magnet is arranged in the accommodating cavity and can rotate in the accommodating cavity;
when two poles of the permanent magnet are respectively contacted with the two magnetizers, the magnetic attraction device generates magnetic attraction force outwards;
when two poles of the permanent magnet are both contacted with the two magnetizers simultaneously, the magnetic attraction device loses magnetic attraction force;
the release device is connected to the permanent magnet and used for driving the permanent magnet to rotate in the accommodating cavity.
6. The unmanned aerial vehicle hangar of any of claims 1-5, further comprising a first rotation device disposed on the base, the robotic arm being connected to the first rotation device proximate an end of the base, the robotic arm being rotatable about the first rotation device; and/or the presence of a gas in the gas,
the mechanical arm is arranged on the base, one end, close to the base, of the mechanical arm is connected to the first swinging device, and the mechanical arm can swing around the first swinging device.
7. The unmanned aerial vehicle hangar of claim 6, further comprising a second rotation device disposed on the grasping end, the magnetic attraction device being disposed on and rotatable about the second rotation device; and/or the presence of a gas in the gas,
the magnetic attraction device is arranged on the second swinging device and can swing around the second swinging device in a pitching mode.
8. The unmanned aerial vehicle hangar of claim 7, further comprising a slide disposed on a base, the robotic arm being slidably mounted to the base via the slide to be closer to or farther from the hangar body.
9. The unmanned aerial vehicle hangar of any of claims 1-5, wherein the robotic arm is disposed outside the hangar body, a side plate of the hangar body adjacent to the robotic arm is provided with an opening, and a grasping end of the robotic arm enters and exits the hangar body through the opening.
10. An unmanned aerial vehicle docking system comprising the unmanned aerial vehicle hangar of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110344046.5A CN113060301A (en) | 2021-03-30 | 2021-03-30 | Unmanned aerial vehicle hangar and unmanned aerial vehicle parking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110344046.5A CN113060301A (en) | 2021-03-30 | 2021-03-30 | Unmanned aerial vehicle hangar and unmanned aerial vehicle parking system |
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