CN113619803B - Full-automatic oiling adds agricultural unmanned aerial vehicle's of medicine take off and land platform - Google Patents

Full-automatic oiling adds agricultural unmanned aerial vehicle's of medicine take off and land platform Download PDF

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Publication number
CN113619803B
CN113619803B CN202111004719.9A CN202111004719A CN113619803B CN 113619803 B CN113619803 B CN 113619803B CN 202111004719 A CN202111004719 A CN 202111004719A CN 113619803 B CN113619803 B CN 113619803B
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CN
China
Prior art keywords
unmanned aerial
aerial vehicle
hangar
sliding
vehicle body
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CN202111004719.9A
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Chinese (zh)
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CN113619803A (en
Inventor
李才圣
梁景堂
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Shenzhen Eagle Brother Uav Innovation Co ltd
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Shenzhen Eagle Brother Uav Innovation Co ltd
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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
    • B64F1/007—Helicopter portable landing pads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D37/00—Arrangements in connection with fuel supply for power plant
    • B64D37/02—Tanks
    • 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
    • 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
    • B64F1/28—Liquid-handling installations specially adapted for fuelling stationary aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • 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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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Catching Or Destruction (AREA)

Abstract

The invention provides a take-off and landing platform of a full-automatic oiling and dosing agricultural unmanned aerial vehicle, which comprises an unmanned aerial vehicle body and a take-off and landing platform, wherein a hangar is arranged in the take-off and landing platform, an oiling device and a dosing device are arranged in the hangar, the unmanned aerial vehicle body is arranged in the hangar, an oil tank and a pesticide box are arranged on the unmanned aerial vehicle body, the oiling device can be used for adding fuel oil into the oil tank, the dosing device can be used for adding pesticide into the pesticide box, and an automatic landing system, an energy storage power supply and a network communication system are further arranged in the unmanned aerial vehicle body. According to the automatic filling device, the refueling device and the dosing device are arranged in the hangar, so that the fuel oil and the pesticide of the unmanned aerial vehicle body can be automatically filled, the automation degree is improved, the labor intensity of workers is reduced, and the unmanned aerial vehicle body can accurately land in the hangar due to the arrangement of the automatic landing system, so that the automatic filling of the fuel oil and the pesticide of the unmanned aerial vehicle body is facilitated.

Description

Full-automatic oiling adds agricultural unmanned aerial vehicle's of medicine take off and land platform
Technical Field
The invention relates to the technical field of agricultural unmanned aerial vehicles, in particular to a take-off and landing platform of a full-automatic oiling and dosing agricultural unmanned aerial vehicle.
Background
Agricultural unmanned aerial vehicle is the unmanned aircraft who is used for agriculture and forestry plant protection operation, comprises flight platform (fixed wing, single rotor, many rotors), flight control system, spraying mechanism triplex, through ground remote control or programming control, realizes spraying medicament, seed, powder etc.. The manual knapsack sprayer is mainly used in rural areas to prevent and treat plant diseases and insect pests. Agricultural unmanned aerial vehicle cooperates high-accuracy positioning technique and programming control technique, almost can accomplish the automation mechanized operation, and it is an advanced mode with traditional manual work mode or traditional aircraft seeding and spraying mode comparison.
Agricultural unmanned aerial vehicle uses with the cooperation of platform of taking off and land, agricultural unmanned aerial vehicle can fly back to the platform of taking off and land automatically after finishing using, agricultural unmanned aerial vehicle generally is provided with oil tank and medical kit, store the fuel in the oil tank, deposit the pesticide in the medical kit, but current agricultural unmanned aerial vehicle need the manual work to add after fuel or pesticide consume, degree of automation is low, staff's intensity of labour has been increased, simultaneously because outdoor environment's influence, the unsafe problem in landing position also can appear when agricultural unmanned aerial vehicle descends.
Disclosure of Invention
The invention provides a take-off and landing platform of a full-automatic oiling and dosing agricultural unmanned aerial vehicle, which is used for solving the technical problems that the existing agricultural unmanned aerial vehicle needs manual addition after fuel oil or pesticide is consumed, the automation degree is low, the labor intensity of workers is increased, and meanwhile, due to the influence of outdoor environment, the landing position of the agricultural unmanned aerial vehicle is inaccurate when the agricultural unmanned aerial vehicle lands.
In order to solve the technical problem, the invention discloses a take-off and landing platform of a full-automatic oiling and dosing agricultural unmanned aerial vehicle, which comprises: unmanned aerial vehicle body and platform of taking off and land, the inside hangar that sets up of platform of taking off and land, set up filling device and charge device in the hangar, the unmanned aerial vehicle body sets up in the hangar, set up oil tank and medical kit on the unmanned aerial vehicle body, filling device can to add the fuel in the oil tank, charge device can to add the pesticide in the medical kit, this internal automatic landing system, energy storage power and the network communication system that still set up of unmanned aerial vehicle.
Preferably, the oil tank lateral wall sets up the oil filler hole, the medical kit lateral wall sets up the medicine filler hole, set up first level sensor in the oil tank, set up second level sensor in the medical kit set up first controller and first communication device in the hangar, first controller with first communication device electric connection, first communication device with unmanned aerial vehicle body wireless connection.
Preferably, the filling device includes second electric telescopic handle, adds oil pipe and first mounting panel, first mounting panel cover is established in adding oil pipe outside, first mounting panel lateral wall with the flexible end fixed connection of second electric telescopic handle, second electric telescopic handle stiff end with hangar left side wall fixed connection adds oil pipe and sets up to flexible pipe, the mouth of pipe that adds oil pipe corresponds the oil filler hole, add the scalable insertion of oil pipe in the oil filler hole, second electric telescopic handle with first controller electric connection.
Preferably, charge device includes third electric telescopic handle, adds pencil and second mounting panel, the second mounting panel cover is established and is added the pencil outside, second mounting panel lateral wall with the flexible end fixed connection of third electric telescopic handle, third electric telescopic handle stiff end with hangar right side wall fixed connection adds the pencil and sets up to flexible pipe, the mouth of pipe that adds the pencil corresponds add the medicine mouth, it is scalable to insert to add the pencil add in the medicine mouth, third electric telescopic handle with first controller electric connection.
Preferably, the platform of taking off and land still includes apron and fourth electric telescopic handle, the apron sets up to two, two the apron about hangar central line bilateral symmetry, the apron keep away from each other one end with the shell upper end of the platform of taking off and land is articulated to be connected, the apron can be followed articulated position and rotated, fourth electric telescopic handle sets up the apron with be close to between the hangar inner wall of apron, two the apron is in can seal under fourth electric telescopic handle's the effect the hangar.
Preferably, the automatic lowering system comprises: second communication device, second controller, positioner, shooting device, treater, third communication device, the second communication device reaches the second controller sets up inside the hangar, the second controller with second communication device electric connection, positioner the shooting device the treater third communication device sets up this is internal for unmanned aerial vehicle, positioner the shooting device third communication device respectively with treater electric connection, third communication device with second communication device wireless communication is connected, the treater with unmanned aerial vehicle body internal power electric connection.
Preferably, still set up lifting unit in the hangar, lifting unit is located unmanned aerial vehicle body below, lifting unit includes first electric telescopic handle and elevating platform, first electric telescopic handle lower extreme with hangar diapire fixed connection, the elevating platform lower surface with first electric telescopic handle upper end fixed connection.
Preferably, the unmanned aerial vehicle body still is provided with strutting arrangement, strutting arrangement includes four support columns, backup pad and frame subassembly, four the support column sets up four angles of unmanned aerial vehicle body downside, four angles of backup pad respectively with four support column inside wall fixed connection, the backup pad upper surface with the oil tank lower surface the fixed connection under the medical kit, the support column lower extreme is provided with the mounting hole, four the support column sets up to two sets of, the frame subassembly sets up to two sets of, two sets of the frame subassembly respectively with two sets of the support column is corresponding, the frame subassembly includes two slip posts, two buffer spring and base, the base sets up two between the slip post, the base both ends respectively with both sides slip post lower extreme fixed connection, the slip post slides and sets up in the mounting hole, buffer spring one end with slip post upper end fixed connection, the buffer spring other end with mounting hole upside inner wall fixed connection.
Preferably, a fixing device is arranged in the hangar, and the fixing device comprises:
the two guide blocks are symmetrically arranged on the lower surface of the lifting platform, the upper surfaces of the guide blocks are fixedly connected with the lower surface of the lifting platform, the guide blocks are in right-angled triangle shapes, and one sides of the guide blocks, far away from the first electric telescopic rod, are inclined planes;
the two first slide rails are symmetrically arranged on the front side and the rear side of the first electric telescopic rod and fixedly connected with the inner wall of the right side of the hangar, a first slide plate is arranged on the first slide rails in a sliding manner and slides back and forth on the first slide rails, a first roller is arranged at one end, close to the guide block, of the first slide plate, and the outer wall of the first roller is attached to the inclined surface of the guide block;
the first rotating shaft is arranged on one side, away from the first electric telescopic rod, of the first sliding plate, two ends of the first rotating shaft are rotatably connected with the inner walls of the left side and the right side of the hangar, a swinging column is arranged on the first rotating shaft, the swinging column is fixedly connected with the first rotating shaft at a position close to the middle position, a first connecting rod is arranged between the swinging column and the first sliding plate, one end of the first connecting rod is hinged with the side wall of the first sliding plate, and the other end of the first connecting rod is hinged with the lower end of the swinging column;
the fixed column is arranged at the upper end of the swinging column, the lower end of the fixed column is fixedly connected with the upper end of the swinging column, and the upper end of the fixed column is provided with a second roller;
the second slide rail is arranged above the swing column and fixedly connected with the inner wall of the right side of the hangar, a second slide plate is arranged on the second slide rail in a sliding mode and slides back and forth on the second slide rail, one side, away from the lifting table, of the second slide plate is attached to the outer wall of the second roller, a first spring is further arranged on one side, away from the lifting table, of the second slide plate, one end of the first spring is fixedly connected with the side wall of the second slide plate, and the other end of the first spring is fixedly connected with the inner wall of the hangar, close to one side of the second slide plate;
the sleeve is arranged on one side of the side wall of the medicine box, the second sliding plate is close to one side of the side wall of the medicine box, the sliding rod is arranged in the sleeve in a sliding mode, one end of the sliding rod, close to the medicine box, is provided with an anti-skidding block, the anti-skidding block is attached to the side wall of the medicine box, the sliding rod is far away from one end of the anti-skidding block, a second spring is arranged at one end of the anti-skidding block, the second spring is located inside the sleeve, one end of the second spring is fixedly connected with the sliding rod, and the other end of the second spring is fixedly connected with the side wall of the second sliding plate.
Preferably, a guiding device is further arranged in the hangar, the guiding device comprises two groups of guiding assemblies and two first magnetic blocks, the two groups of guiding assemblies correspond to the two bases one by one, the two first magnetic blocks are symmetrically arranged on the inner wall of the rear side of the hangar and close to the upper end position, the two first magnetic blocks are bilaterally symmetrical relative to the center line of the lifting table, and the guiding assembly comprises:
the lower compression column is arranged right below the base, a lower pressing plate is arranged at the upper end of the lower compression column, the upper surface of the lower pressing plate is in contact with the lower surface of the base, the lower end of the lower compression column penetrates through the lifting table and extends to the position below the lifting table, and the lower compression column is in sliding connection with the through hole of the lifting table;
the connecting plate is arranged at the lower end of the lower pressing column and is perpendicular to the lower pressing column, a second magnetic block matched with the first magnetic block is arranged on the upper surface of the connecting plate, and the first magnetic block can be attracted with the second magnetic block;
the third spring is sleeved on the lower pressing column, one end of the third spring is fixedly connected with the lower surface of the lower pressing plate, and the other end of the third spring is fixedly connected with the upper surface of the lifting platform;
the two third slide rails are symmetrically arranged on the left side and the right side of the lower pressing column, the lower surfaces of the third slide rails are fixedly connected with the upper surface of the lifting platform, third slide plates are arranged on the third slide rails in a sliding manner, the third slide plates slide left and right along the third slide rails, the two third slide plates are positioned on the left side and the right side of the lower pressing plate, the front side walls of the two third slide plates are respectively provided with a second connecting rod, one end of each second connecting rod is hinged with the front side wall of each third slide plate, and the other end of each second connecting rod extends to the lower part of the lifting platform and is hinged with the lower end of the lower pressing column;
the limiting block is arranged on the upper surface of the third slide rail, the lower end of the limiting block is fixedly connected with the upper surface of the third slide rail, and the limiting block is positioned on one side, away from the lower compression column, of the third slide plate;
the guide plates are obliquely arranged at the upper end of the third sliding plate, the lower ends of the guide plates are fixedly connected with the upper end of the third sliding plate, the two guide plates are bilaterally symmetrical relative to the base, and the vertical distance between the upper ends of the two guide plates is greater than that between the lower ends of the two guide plates.
The technical scheme of the invention has the following advantages: the invention provides a take-off and landing platform of a full-automatic oiling and dosing agricultural unmanned aerial vehicle, which comprises an unmanned aerial vehicle body and a take-off and landing platform, wherein a hangar is arranged in the take-off and landing platform, an oiling device and a dosing device are arranged in the hangar, the unmanned aerial vehicle body is arranged in the hangar, an oil tank and a dosing tank are arranged on the unmanned aerial vehicle body, the oiling device can be used for adding fuel oil into the oil tank, the dosing device can be used for adding pesticide into the dosing tank, and an automatic landing system is also arranged in the unmanned aerial vehicle body. According to the automatic filling device, the refueling device and the dosing device are arranged in the hangar, so that the fuel oil and the pesticide of the unmanned aerial vehicle body can be automatically filled, the automation degree is improved, the labor intensity of workers is reduced, and the unmanned aerial vehicle body can accurately land in the hangar due to the arrangement of the automatic landing system, so that the automatic filling of the fuel oil and the pesticide of the unmanned aerial vehicle body is facilitated.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the apparatus particularly pointed out in the written description and drawings thereof.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of a take-off and landing platform of a full-automatic refueling and dosing agricultural unmanned aerial vehicle;
FIG. 2 is a schematic view of an unmanned aerial vehicle body refueling device and a dosing device according to the present invention;
FIG. 3 is a left side view of the unmanned aerial vehicle body of the present invention;
FIG. 4 is a schematic view of the fixing device of the present invention;
FIG. 5 is a schematic view of a state of the guide device of the present invention;
fig. 6 is a schematic view of another state of the guide device of the present invention.
In the figure: 1. an unmanned aerial vehicle body; 2. a take-off and landing platform; 3. a hangar; 4. an oil tank; 5. a medicine chest; 6. an oil filler; 7. a medicine adding port; 8. a second electric telescopic rod; 9. an oil filler tube; 10. a first mounting plate; 11. a third electric telescopic rod; 12. a medicine feeding pipe; 13. a second mounting plate; 14. a cover plate; 15. a first electric telescopic rod; 16. a lifting platform; 17. a support column; 18. a support plate; 19. mounting holes; 20. a sliding post; 21. a buffer spring; 22. a base; 23. a guide block; 24. a first slide rail; 25. a first slide plate; 26. a first roller; 27. a first rotating shaft; 28. a swing post; 29. a first link; 30. fixing a column; 31. a second roller; 32. a second slide rail; 33. a second slide plate; 34. a first spring; 35. a sleeve; 36. a slide bar; 37. anti-skid blocks; 38. a second spring; 39. a first magnetic block; 40. pressing the column; 41. pressing the plate downwards; 42. a connecting plate; 43. a second magnetic block; 44. a third spring; 45. a third slide rail; 46. a third slide plate; 47. a second link; 48. a limiting block; 49. a guide plate.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it should be understood that they are presented herein only to illustrate and explain the present invention and not to limit the present invention.
In addition, the descriptions related to "first", "second", etc. in the present invention are used for descriptive purposes only, do not specifically refer to an order or sequence, and do not limit the present invention, but merely distinguish components or operations described in the same technical terms, and are not to be construed as indicating or implying any relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions and technical features between various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
Example 1:
the embodiment of the invention provides a take-off and landing platform of a full-automatic oiling and dosing agricultural unmanned aerial vehicle, which comprises the following components as shown in figures 1-6: unmanned aerial vehicle body 1 and take off and land platform 2, take off and land platform 2 is inside to set up hangar 3, set up filling device and charge device in the hangar 3, unmanned aerial vehicle body 1 sets up in the hangar 3, set up oil tank 4 and medical kit 5 on the unmanned aerial vehicle body 1, filling device can to add the fuel in the oil tank 4, charge device can to add the pesticide in the medical kit 5, still set up automatic landing system, energy storage power supply and network communication system in the unmanned aerial vehicle body 1.
The working principle and the beneficial effects of the technical scheme are as follows: the invention comprises an unmanned aerial vehicle body 1 and a landing platform 2, wherein a hangar 3 is arranged in the landing platform 2, the unmanned aerial vehicle body 1 can stay in the hangar 3 when not in use, an oiling device and a dosing device are arranged in the hangar 3, when the fuel quantity in a fuel tank 4 is lower than a preset fuel quantity value, the oiling device can fill fuel into the fuel tank 4 of the unmanned aerial vehicle body 1, when the pesticide quantity in the fuel tank 5 is lower than a preset pesticide value, the dosing device can fill pesticide into a pesticide tank 5 of the unmanned aerial vehicle body 1, thereby realizing the automatic filling of pesticide and fuel, when the unmanned aerial vehicle body 1 needs to work, the hangar 3 can be automatically opened, the unmanned aerial vehicle body 1 can fly away from the hangar 3, and when the unmanned aerial vehicle body 1 is used, the unmanned aerial vehicle body 1 can automatically land through an automatic landing system, and land and accomplish the automatic homing to the inside of hangar 3, the inside energy storage power and network communication system that still are provided with of hangar 3, the energy storage power can satisfy unmanned aerial vehicle body 1 and take off and land platform 2 basic control, and provide the electric energy for unmanned aerial vehicle body 1 and take off and land platform 2, network communication system can satisfy the remote operation control to unmanned aerial vehicle local 1 and hangar 3, the remote control of unmanned aerial vehicle body 1 and take off and land platform 2 has been realized, in the invention, through set up filling device and charge device in hangar 3 inside, the automatic filling of unmanned aerial vehicle body 1 fuel and pesticide has been realized, the degree of automation has been improved, reduce staff intensity of labour, and owing to set up automatic landing system, make unmanned aerial vehicle body 1 can accurately land to the inside hangar 3, help the automatic filling of unmanned aerial vehicle body 1 fuel and pesticide to fill
Example 2
On the basis of the embodiment 1, as shown in fig. 1, a fuel filling port 6 is arranged on the side wall of the fuel tank 4, a fuel filling port 7 is arranged on the side wall of the fuel tank 5, a first liquid level sensor is arranged in the fuel tank 4, a second liquid level sensor is arranged in the fuel tank 5, a first controller and a first communication device are arranged in the hangar 3, the first controller is electrically connected with the first communication device, and the first communication device is in wireless communication connection with the unmanned aerial vehicle body 1;
the oil filling device comprises a second electric telescopic rod 8, an oil filling pipe 9 and a first mounting plate 10, the first mounting plate 10 is sleeved outside the oil filling pipe 9, the side wall of the first mounting plate 10 is fixedly connected with the telescopic end of the second electric telescopic rod 8, the fixed end of the second electric telescopic rod 8 is fixedly connected with the left side wall of the machine base 3, the oil filling pipe 9 is arranged to be a telescopic pipe, the pipe orifice of the oil filling pipe 9 corresponds to the oil filling opening 6, the oil filling pipe 9 is telescopically inserted into the oil filling opening 6, and the second electric telescopic rod 8 is electrically connected with the first controller;
the charge device includes third electric telescopic handle 11, adds pencil 12 and second mounting panel 13, 13 covers of second mounting panel are established at the pencil 12 outside of adding, second mounting panel 13 lateral wall with 11 flexible end fixed connection of third electric telescopic handle, 11 stiff ends of third electric telescopic handle with 3 right side wall fixed connection of hangar, the pencil 12 of adding sets up to flexible pipe, the mouth of pipe that adds pencil 12 corresponds add medicine mouth 7, add the scalable insertion of pencil 12 in adding medicine mouth 7, third electric telescopic handle 11 with first controller electric connection.
The working principle and the beneficial effects of the technical scheme are as follows: the side wall of the oil tank 4 is provided with an oil filling port 6, the side wall of the oil tank 5 is provided with a pesticide adding port 7, the oil filling port 6 and the pesticide adding port 7 are respectively provided with a check valve, outflow of liquid in the oil tank 4 or the oil tank 5 is avoided, a first liquid level sensor is arranged in the oil tank 4 and can detect fuel quantity in the oil tank 4, a second liquid level sensor is arranged in the oil tank 5 and can detect pesticide quantity in the oil tank 5, the unmanned aerial vehicle body 1 is in wireless communication connection with a first communication device and can transmit detection values of the first liquid level sensor and the second liquid level sensor to a first controller through the first communication device, then the first controller controls the oil filling device and the pesticide adding device to work according to the detection values, when the oil filling device works, the second electric telescopic rod 8 stretches out and drives an oil filling gun of the oil filling pipe 9 to be inserted into the oil filling port 6 through the first mounting plate 10, so that fuel is filled into the oil tank 4, after the filling is finished, the second electric telescopic rod 8 automatically retracts, when the pesticide adding device works, the third electric telescopic rod 11 stretches out and drives an oil filling gun to drive the medicine adding gun to be inserted into the pesticide adding port 12 to be inserted into the pesticide adding port 7, and the pesticide automatic pesticide filling intensity of the pesticide adding device is reduced, and the pesticide adding intensity of the pesticide is achieved.
Example 3
On the basis of embodiment 1 or 2, as shown in fig. 1 and 2, the lifting platform 2 further includes two cover plates 14 and a fourth electric telescopic rod, the two cover plates 14 are arranged symmetrically about a center line of the hangar 3, one ends of the cover plates 14 away from each other are hinged to the upper end of the housing of the lifting platform 2, the cover plates 14 can rotate along the hinged positions, the fourth electric telescopic rod is arranged between the cover plates 14 and the inner wall of the hangar 3 close to the cover plates 14, and the two cover plates 14 can close the hangar 3 under the action of the fourth electric telescopic rod.
The working principle and the beneficial effects of the technical scheme are as follows: be provided with two apron 14 in platform 2 upper end of taking off and landing, two apron 14 are the structure that opens and shuts, can seal hangar 3 when two apron 14 contacts, make hangar 3 inside separate with the outside, when two apron 14 are opened, unmanned aerial vehicle body 1 can take off from hangar 3 inside or descend to hangar 3 inside from hangar 3 outside, two apron 14 have dustproof effect, the inside cleanliness of hangar 3 has been improved, when unmanned aerial vehicle body 1 flies to hangar 3 top, the fourth electric telescopic handle is automatic to stretch out, two apron 14 are opened simultaneously, unmanned aerial vehicle body 1 can descend to in hangar 3 this moment, after unmanned aerial vehicle body 1 stops, the automatic withdrawal of fourth electric telescopic handle, two apron 14 reclose, wait until unmanned aerial vehicle body 1 needs the work of taking off, two apron 14 reopen, two apron 14 reclose after unmanned aerial vehicle body 1 flies from hangar 3, through the above-mentioned scheme, the degree of automation of platform 2 has been improved, do not need the opening and closing of artificial control apron 14, and more convenient and fast.
Example 4
On the basis of any one of embodiments 1 to 3, the automatic lowering system includes: second communication device, second controller, positioner, shooting device, treater, third communication device, the second communication device reaches the second controller sets up inside the hangar 3, the second controller with second communication device electric connection, positioner shoot the device the treater third communication device sets up in the unmanned aerial vehicle body 1, positioner shoot the device third communication device respectively with treater electric connection, third communication device with second communication device wireless communication connects, the treater with 1 internal power supply electric connection of unmanned aerial vehicle body.
The working principle and the beneficial effects of the technical scheme are as follows: when unmanned aerial vehicle body 1 needs to descend, the automatic landing system begins to work, at first unmanned aerial vehicle body 1 can utilize positioner to accurately find the position of platform 2 that takes off and land, then unmanned aerial vehicle body 1 flies directly over platform 2 that takes off and land, unmanned aerial vehicle body 1 descends to preset the height again, utilize shooting device to shoot platform 2 photos that takes off and land, thereby obtain the actual image, the treater can compare actual image with the preset image that prestores in the treater after that, and calculate the plane angle difference of actual image and preset image, according to the plane angle difference, treater control unmanned aerial vehicle body 1 carries out rotation regulation, then reuse shooting device to shoot the photo, when 0 until the plane angle difference, the actual image is identical with preset image completely, at this moment, inside second controller rethread wireless communication connection control unmanned aerial vehicle body 1 descended to hangar 3, the automatic accurate landing of unmanned aerial vehicle body 1 has been realized.
Example 5
On embodiment 1's basis, as shown in fig. 1, still set up lifting unit in the hangar 3, lifting unit is located unmanned aerial vehicle body 1 below, lifting unit includes an electric telescopic handle 15 and elevating platform 16, an electric telescopic handle 15 lower extreme with hangar 3 diapire fixed connection, elevating platform 16 lower surface with an electric telescopic handle 15 upper end fixed connection.
The working principle and the beneficial effects of the technical scheme are as follows: be provided with lifting unit in hangar 3, second controller and first electric telescopic handle 15 can electric connection, unmanned aerial vehicle body 1 can descend on elevating platform 16, when unmanned aerial vehicle body 1 need take off, second controller control first electric telescopic handle 15 stretches out, elevating platform 16 can move to the hangar 3 outsidely, increase space, be convenient for take off of unmanned aerial vehicle body 1, after unmanned aerial vehicle body 1 finishes using descend earlier at elevating platform 16, then unmanned aerial vehicle body 1 rotor is closed, 15 retractions of first electric telescopic handle, elevating platform 16 descends again to the hangar 3 in, unmanned aerial vehicle body 1 also gets into the hangar 3 inside along with elevating platform 16 this moment, realize automatic playback, playback after unmanned aerial vehicle body 1 rotor is closed, the security when playback has also been improved, prevent to be injured by the rotor.
Example 6
On the basis of embodiment 5, as shown in fig. 3, the unmanned aerial vehicle body 1 is further provided with a supporting device, the supporting device includes four supporting columns 17, a supporting plate 18 and a frame assembly, four supporting columns 17 are disposed at four corners of the lower side of the unmanned aerial vehicle body 1, four corners of the supporting plate 18 are respectively fixedly connected with four inner side walls of the supporting columns 17, the upper surface of the supporting plate 18 is fixedly connected with the lower surface of the oil tank 4 and the lower surface of the medicine box 5, mounting holes 19 are disposed at the lower ends of the supporting columns 17, four supporting columns 17 are disposed in two groups, the frame assembly is disposed in two groups, two groups of frame assemblies are respectively corresponding to the two groups of supporting columns 17, the frame assembly includes two sliding columns 20, two buffer springs 21 and a base 22, the base 22 is disposed between the two sliding columns 20, two ends of the base 22 are respectively fixedly connected with the lower ends of the sliding columns 20 at two sides, the sliding columns 20 are slidably disposed in the mounting holes 19, one end of each buffer spring 21 is fixedly connected with the upper ends of the corresponding sliding columns 20, and the other end of each buffer spring 21 is fixedly connected with the inner wall of the upper side of the mounting holes 19.
The working principle and the beneficial effects of the technical scheme are as follows: set up support column 17 respectively at four angles of unmanned aerial vehicle body 1 lower surface, set up backup pad 18 between four support columns 17, backup pad 18 can play the effect of supporting oil tank 4 and medical kit 5, four support columns 17 divide into two sets ofly, it becomes a set ofly to be located two left support columns 17 of medical kit 5, it becomes another group to be located two support columns 17 on the right side of medical kit 4, it sets up frame subassembly to slide in every group support column 17, the frame subassembly can realize sliding from top to bottom through slip post 20, thereby utilize buffer spring 21 to cushion, when unmanned aerial vehicle body 1 rises and falls, can play good buffering shock attenuation effect, thereby prevent the vibration by a wide margin of medical kit 5 and oil tank 4, set up base 22 between two support columns 17 of same group, when unmanned aerial vehicle body 1 descends to elevating platform 16, base 22 and 16 surface contact, base 22 can increase unmanned aerial vehicle body 1's area of contact, thereby improve the stability of interest rate unmanned aerial vehicle body 1 in hangar 3.
Example 7
On the basis of embodiment 5 or 6, as shown in fig. 4, a fixing device is provided in the hangar 3, and the fixing device includes:
the two guide blocks 23 are symmetrically arranged on the lower surface of the lifting table 16, the upper surface of each guide block 23 is fixedly connected with the lower surface of the lifting table 16, each guide block 23 is in a right-angled triangle shape, and one side, far away from the first electric telescopic rod 15, of each guide block 23 is provided with an inclined surface;
the two first slide rails 24 are symmetrically arranged on the front side and the rear side of the first electric telescopic rod 15, the first slide rails 24 are fixedly connected with the inner wall of the right side of the hangar 3, the first slide rails 24 are provided with first slide plates 25 in a sliding manner, the first slide plates 25 slide back and forth on the first slide rails 24, one ends of the first slide plates 25, which are close to the guide blocks 23, are provided with first rollers 26, and the outer walls of the first rollers 26 are attached to the inclined surfaces of the guide blocks 23;
the first rotating shaft 27 is arranged on one side of the first sliding plate 25 far away from the first electric telescopic rod 15, two ends of the first rotating shaft 27 are rotatably connected with the inner walls of the left side and the right side of the hangar 3, a swing column 28 is arranged on the first rotating shaft 27, the swing column 28 is fixedly connected with the first rotating shaft 27 near the middle position, a first connecting rod 29 is arranged between the swing column 28 and the first sliding plate 25, one end of the first connecting rod 29 is hinged with the side wall of the first sliding plate 25, and the other end of the first connecting rod 29 is hinged with the lower end of the swing column 28;
the fixed column 30 is arranged at the upper end of the swinging column 28, the lower end of the fixed column 30 is fixedly connected with the upper end of the swinging column 28, and the upper end of the fixed column 30 is provided with a second roller 31;
the second slide rail 32 is arranged above the swing column 28, the second slide rail 32 is fixedly connected with the inner wall of the right side of the hangar 3, a second slide plate 33 is arranged on the second slide rail 32 in a sliding manner, the second slide plate 33 slides back and forth on the second slide rail 32, one side of the second slide plate 33, which is far away from the lifting table 16, is attached to the outer wall of the second roller 31, one side of the second slide plate 33, which is far away from the lifting table 16, is also provided with a first spring 34, one end of the first spring 34 is fixedly connected with the side wall of the second slide plate 33, and the other end of the first spring 34 is fixedly connected with the inner wall of the hangar 3, which is close to one side of the second slide plate 33;
the sleeve 35, the sleeve 35 is disposed on the second sliding plate 33 near the sidewall of the medicine box 5, a sliding rod 36 is slidably disposed in the sleeve 35, the sliding rod 36 is near the anti-skid block 37 disposed at one end of the medicine box 5, the anti-skid block 37 is attached to the sidewall of the medicine box 5, a second spring 38 is disposed at one end of the sliding rod 36 far away from the anti-skid block 37, the second spring 38 is disposed inside the sleeve 35, one end of the second spring 38 is fixedly connected to the sliding rod 36, and the other end of the second spring 38 is fixedly connected to the sidewall of the second sliding plate 33.
The working principle and the beneficial effects of the technical scheme are as follows: after the unmanned aerial vehicle body 1 descends to the lifting platform 16, the first electric telescopic rod 15 retracts into the garage 3, the lifting platform 16 moves from top to bottom in the garage 3, after the guide block 23 on the lower surface of the lifting platform 16 contacts with the first roller 26, the first roller 26 can move along the inclined surface of the guide block 23, the first roller 26 drives the first sliding plate 25 to slide along the first sliding rail 24 in the direction far away from the first electric telescopic rod 15, the first sliding plate 25 drives the lower end of the swinging column 28 to rotate in the direction far away from the first electric telescopic rod 15 through the first connecting rod 29, the upper end of the swinging column 28 rotates in the direction close to the first electric telescopic rod 15, then the swinging column 28 drives the fixing column 30 to move in the direction close to the first electric telescopic rod 15, the fixing column 30 drives the second sliding plate 33 to slide in the direction close to the unmanned aerial vehicle body 1 through the second roller 31, and the first spring 34 stretches, the second sliding plate 33 drives the sleeve 35 and the sliding rod 36 in the sleeve 35 to move towards the direction close to the medicine box 5 until the anti-skid blocks 37 contact with the side walls of the medicine box 5, then the second spring 38 starts to compress, when the lifting platform 16 descends to the lowest position, the unmanned aerial vehicle body 1 completely enters the interior of the hangar 3, under the action of the second spring 38, the medicine box 5 of the unmanned aerial vehicle body 1 is clamped between the two anti-skid blocks 37 and cannot shake, when the unmanned aerial vehicle body 1 needs to take off, the first electric telescopic rod 15 extends out, the guide block 23 gradually keeps away from the first roller 26, under the action of the first spring 34, the anti-skid blocks 37 gradually move towards the direction away from the medicine box 5, after the lifting platform 16 moves to the exterior of the hangar 3, the unmanned aerial vehicle body 1 can directly take off from the lifting platform 16, and by arranging the fixing device, when the unmanned aerial vehicle body 1 moves to the interior of the hangar 3, the medicine box 5 is fixed by the two anti-skid blocks 37, thereby fix unmanned aerial vehicle body 1 inside hangar 3, as long as first electric telescopic handle 15 does not start, unmanned aerial vehicle body 1 just can't move, has improved unmanned aerial vehicle body 1 at the inside stability of hangar 3, and in the transportation, unmanned aerial vehicle body 1 can not rock in hangar 3, is difficult for taking place the problem of colliding with in hangar 3 inside, the effectual unmanned aerial vehicle body 1 that has protected.
Example 8
On the basis of embodiment 6 or 7, as shown in fig. 5 and 6, a guiding device is further disposed in the machine base 3, the guiding device includes two sets of guiding assemblies and two first magnetic blocks 39, the two sets of guiding assemblies correspond to the two bases 22 one by one, the two first magnetic blocks 39 are symmetrically disposed on the inner wall of the rear side of the machine base 3 near the upper end, the two first magnetic blocks 39 are symmetrical left and right with respect to the center line of the lifting table 16, and the guiding device includes:
the lower compression column 40 is arranged right below the base 22, the upper end of the lower compression column 40 is provided with a lower pressing plate 41, the upper surface of the lower pressing plate 41 is in contact with the lower surface of the base 22, the lower end of the lower compression column 40 penetrates through the lifting platform 16 and extends to the position below the lifting platform 16, and the lower compression column 40 is connected with the through hole of the lifting platform 16 in a sliding manner;
the connecting plate 42 is arranged at the lower end of the lower pressing column 40, the connecting plate 42 is perpendicular to the lower pressing column 40, the upper surface of the connecting plate 42 is provided with a second magnetic block 43 matched with the first magnetic block 39, and the first magnetic block 39 can be attracted with the second magnetic block 43;
the third spring 44 is sleeved on the lower pressing column 40, one end of the third spring 44 is fixedly connected with the lower surface of the lower pressing plate 41, and the other end of the third spring 44 is fixedly connected with the upper surface of the lifting table 16;
the two third slide rails 45 are symmetrically arranged on the left side and the right side of the lower compression column 40, the lower surface of the third slide rail 45 is fixedly connected with the upper surface of the lifting table 16, a third slide plate 46 is arranged on the third slide rail 45 in a sliding manner, the third slide plate 46 slides left and right along the third slide rail 45, the two third slide plates 46 are positioned on the left side and the right side of the lower compression plate 41, the front side walls of the two third slide plates 46 are respectively provided with a second connecting rod 47, one end of each second connecting rod 47 is hinged to the front side wall of the corresponding third slide plate 46, and the other end of each second connecting rod 47 extends below the lifting table 16 and is hinged to the lower end of the corresponding lower compression column 40;
the limiting block 48 is arranged on the upper surface of the third slide rail 45, the lower end of the limiting block 48 is fixedly connected with the upper surface of the third slide rail 45, and the limiting block 48 is positioned on one side of the third slide plate 46 far away from the lower compression column 40;
the guide plates 49 are obliquely arranged at the upper end of the third sliding plate 46, the lower ends of the guide plates 49 are fixedly connected with the upper end of the third sliding plate 46, the two guide plates 49 are bilaterally symmetrical relative to the base 22, and the vertical distance between the upper ends of the two guide plates 49 is greater than that between the lower ends of the two guide plates 49.
The working principle and the beneficial effects of the technical scheme are as follows: the guide device is also arranged in the hangar 3 and comprises a guide assembly and two first magnetic blocks 39, the two first magnetic blocks 39 are symmetrically arranged at an opening of the hangar 3, the guide assembly is arranged on the lifting platform 16, when the unmanned aerial vehicle body 1 descends, the lifting platform 16 is at the highest position, the first magnetic blocks 39 are attracted with the second magnetic blocks 43, the base 22 of the unmanned aerial vehicle body 1 moves to a position between the two guide plates 49, because the two guide plates 49 are obliquely arranged and the distance between the upper ends of the two guide plates 49 is greater than that between the lower ends of the two guide plates 49, the base 22 can smoothly move to a position between the two third sliding plates 46 along the guide plates 49 in the descending process of the base 22, the inner side walls of the guide plates 49 can be provided with a plurality of balls, the downward sliding of the base 22 is facilitated by the arrangement of the balls, then the base 22 is contacted with the upper surface of the lower pressing plate 41, under the magnetic force action of the attraction of the first magnetic blocks 39 and the second magnetic blocks 43, connecting plate 42 remains motionless, lower compression leg 40 can't slide downwards, lower pressure plate 41 remains motionless, then first electric telescopic handle 15 withdraws, owing to be provided with stopper 48 on third slide rail 45, third slide plate 46 can't slide to keeping away from lower compression leg 40 direction, therefore, first magnetic path 39 and second magnetic path 43 separation, this moment under the action of gravity, unmanned aerial vehicle body 1 drives lower pressure plate 41 downstream, third spring 44 compression plays the shock attenuation cushioning effect to unmanned aerial vehicle body 1, simultaneously, lower pressure plate 41 moves and drives lower compression leg 40 and slide downwards in the through-hole of elevating platform 16, lower compression leg 40 drives second connecting rod 47 and moves downwards, second connecting rod 47 drives third slide plate 46 and slides to the direction that is close to base 22, until two third slide plates 46 clamp base 22 in the space that two third slide plates 46 constitute, fixed to unmanned aerial vehicle body 1 has been realized through the fixing of base 22 (as shown in fig. 6) When the unmanned aerial vehicle body 1 needs to be started, the lifting platform 16 moves to the outside of the hangar 3, the two third sliding plates 46 can clamp the base 22 in the movement process of the lifting platform 16, so that the unmanned aerial vehicle body 1 cannot shake in the lifting process, when the lifting platform 16 moves to the highest position, the first magnetic block 39 and the second magnetic block 43 are attracted again, the connecting plate 42 can drive the lower pressing column 40 to move upwards, the lower pressing column 40 drives the two third sliding plates 46 to slide in the direction away from the lower pressing column 40 through the second connecting rod 47, the third sliding plates 46 are gradually separated from the base 22, at the moment, unmanned aerial vehicle body 1 can take off from the direction subassembly (as shown in fig. 5), through setting up this guider, unmanned aerial vehicle body 1 can follow the smooth landing of deflector 49 on the holding down plate 41 between two third slides 46, and be supported unmanned aerial vehicle body 1 by holding down plate 41, help the automatic descending and the accurate playback of unmanned aerial vehicle body 1, simultaneously in 3 in-process of unmanned aerial vehicle body 1 business turn over hangar, guider passes through third slide 46 and presss from both sides base 22 tightly, can avoid unmanned aerial vehicle body 1 and hangar 3 inner wall to take place to collide with, the guard action has been played to unmanned aerial vehicle body 1, the life of unmanned aerial vehicle body 1 has been prolonged.
Example 9
On the basis of embodiment 4, the shooting device can acquire a second actual image of the take-off and landing platform, the processor can compare the second actual image of the take-off and landing platform with a second preset image in the processor, and judge the actual goodness of fit of the second actual image and the second preset image, when the actual goodness of fit is equal to 1, the unmanned aerial vehicle body 1 can land on the take-off and landing platform 2, and the actual fit calculation method includes the following steps:
step 1: dividing the image area of the second actual image and the second preset image into N parts, and then calculating the actual goodness of fit of the second actual image and the second preset image according to the following formula:
Figure GDA0004036348960000171
wherein Q 0 Is the actual goodness of fit, S, of the second actual image and the second preset image 0 Is the total area of the image region of the second actual image, S 1 Is the area of the 1 st image region in the second actual image, S 2 Is the area of the 2 nd image region in the second actual image, S N Is the area of the Nth image area in the second real image, N is the total number of the divided areas, I (a) is the pixel value of the gray scale image in the 1 st image area in the second real image, A is the number of the pixel points in the 1 st image area in the second real image,
Figure GDA0004036348960000172
is the average value of all pixel values in the 1 st image area in the second actual image, I (B) is the pixel value of the gray image in the 2 nd image area in the second actual image, B is the number of pixel points in the 1 st image area in the second actual image, and/or>
Figure GDA0004036348960000173
Is the average value of all pixel values in the 2 nd image area in the second actual image, I (M) is the pixel value of the gray image in the Nth image area in the second actual image, M is the number of pixel points in the Nth image area in the second actual image, and/or>
Figure GDA0004036348960000174
Is the average value of all pixel values in the Nth image area in the second actual image, theta 0 Is the total area of the image region of the second preset image, theta 1 Is the area of the 1 st image region in the second predetermined image, θ 2 Is the area of the 2 nd image region in the second preset image, theta N Is the area of the Nth image region in the second preset image, delta (a) 1 ) Is a second preset chartPixel value of the gray scale image in the 1 st image area in the image, A 1 For the number of pixel points in the 1 st image area in the second preset image, is->
Figure GDA0004036348960000175
Is the average value of all pixel values of the 1 st image area in the second preset image, delta (b) 1 ) For the pixel values of the gray image in the 2 nd image area in the second predetermined image, B 1 For the number of pixel points in the 1 st image area in the second preset image, is->
Figure GDA0004036348960000176
Figure GDA0004036348960000177
Is the average value of all pixel values of the 2 nd image area in the second preset image, delta (m) 1 ) Is the pixel value, M, of the gray scale image in the Nth image area in the second preset image 1 For the number of pixel points in the Nth image area in the second preset image, based on the comparison result>
Figure GDA0004036348960000181
The average value of all pixel values of the Nth image area in the second preset image is obtained;
step 2: when the second actual image with the second predetermines when the actual goodness of fit of image equals 1, unmanned aerial vehicle body 1 automatic landing is to taking off and landing platform 2 on.
The working principle and the beneficial effects of the technical scheme are as follows: for example, the image area of the second actual image and the second preset image is divided into 1, S 1 ＝S 0 The number A of pixel points in the 1 st image area in the second actual image is assumed to be one pixel point, and I (a) is 15000 theta 0 ＝θ 1 The number A of the pixel points in the 1 st image area in the second preset image 1 Assume a pixel point, δ (a) 1 ) Also take 15000, therefore, Q 0 The calculation can be 1, then the actual goodness of fit of the second actual image and the second preset image at this moment is equal to 1, and the unmanned aerial vehicle body 1 can automatically descendFall to landing platform 2 on, the actual goodness of fit of predetermineeing the image when second actual image and second is not equal to 1, it does not just to landing platform 2 to explain unmanned aerial vehicle body 1, unmanned aerial vehicle body 1 needs the adjusting position this moment, can descend to landing platform 2 when the actual goodness of fit of predetermineeing the image until second actual image and second equals 1, can accurately calculate unmanned aerial vehicle body 1's position through above-mentioned scheme, and predetermine the image comparison with landing platform 2's second, the actual goodness of fit of predetermineeing the image when second actual image and second equals 1, help accurate the descending of unmanned aerial vehicle body 1 in landing platform 2 tops, the degree of accuracy of descending has been improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (8)

1. The utility model provides a full-automatic oiling adds agricultural unmanned aerial vehicle's take off and land platform that adds medicine which characterized in that includes: the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1) and a take-off and landing platform (2), wherein a hangar (3) is arranged in the take-off and landing platform (2), an oiling device and a dosing device are arranged in the hangar (3), the unmanned aerial vehicle body (1) is arranged in the hangar (3), an oil tank (4) and a medicine tank (5) are arranged on the unmanned aerial vehicle body (1), and an automatic landing system, an energy storage power supply and a network communication system are further arranged in the unmanned aerial vehicle body (1);
the unmanned aerial vehicle is characterized in that a lifting assembly is further arranged in the hangar (3), the lifting assembly is located below the unmanned aerial vehicle body (1), the lifting assembly comprises a first electric telescopic rod (15) and a lifting platform (16), the lower end of the first electric telescopic rod (15) is fixedly connected with the bottom wall of the hangar (3), and the lower surface of the lifting platform (16) is fixedly connected with the upper end of the first electric telescopic rod (15);
set up fixing device in hangar (3), fixing device includes:
the two guide blocks (23) are symmetrically arranged on the lower surface of the lifting platform (16), the upper surface of each guide block (23) is fixedly connected with the lower surface of the lifting platform (16), each guide block (23) is in a right-angle triangle shape, and one side, far away from the first electric telescopic rod (15), of each guide block (23) is provided with an inclined surface;
the two first sliding rails (24) are symmetrically arranged on the front side and the rear side of the first electric telescopic rod (15), the first sliding rails (24) are fixedly connected with the inner wall of the right side of the hangar (3), a first sliding plate (25) is arranged on the first sliding rails (24) in a sliding manner, the first sliding plate (25) slides back and forth on the first sliding rails (24), a first roller (26) is arranged at one end, close to the guide block (23), of the first sliding plate (25), and the outer wall of the first roller (26) is attached to the inclined surface of the guide block (23);
the first rotating shaft (27) is arranged on one side, far away from the first electric telescopic rod (15), of the first sliding plate (25), two ends of the first rotating shaft (27) are rotatably connected with the inner walls of the left side and the right side of the hangar (3), a swinging column (28) is arranged on the first rotating shaft (27), the swinging column (28) is close to the middle position and is fixedly connected with the first rotating shaft (27), a first connecting rod (29) is arranged between the swinging column (28) and the first sliding plate (25), one end of the first connecting rod (29) is hinged to the side wall of the first sliding plate (25), and the other end of the first connecting rod (29) is hinged to the lower end of the swinging column (28);
the fixed column (30) is arranged at the upper end of the swinging column (28), the lower end of the fixed column (30) is fixedly connected with the upper end of the swinging column (28), and the upper end of the fixed column (30) is provided with a second roller (31);
the second sliding rail (32) is arranged above the swing column (28), the second sliding rail (32) is fixedly connected with the inner wall of the right side of the hangar (3), a second sliding plate (33) is arranged on the second sliding rail (32) in a sliding manner, the second sliding plate (33) slides back and forth on the second sliding rail (32), one side, far away from the lifting table (16), of the second sliding plate (33) is attached to the outer wall of the second roller (31), one side, far away from the lifting table (16), of the second sliding plate (33) is also provided with a first spring (34), one end of the first spring (34) is fixedly connected with the side wall of the second sliding plate (33), and the other end of the first spring (34) is fixedly connected with the inner wall of the hangar (3) close to one side of the second sliding plate (33);
sleeve (35), sleeve (35) set up second slide (33) are close to medical kit (5) lateral wall one side, slide in sleeve (35) and set up slide bar (36), slide bar (36) are close to medical kit (5) one end sets up non slipping spur (37), non slipping spur (37) with medical kit (5) lateral wall laminating, slide bar (36) are kept away from non slipping spur (37) one end sets up second spring (38), second spring (38) are located inside sleeve (35), second spring (38) one end with slide bar (36) fixed connection, second spring (38) other end with second slide (33) lateral wall fixed connection.
2. The take-off and landing platform of the full-automatic oiling and dosing agricultural unmanned aerial vehicle as claimed in claim 1, wherein the sidewall of the oil tank (4) is provided with an oil filling port (6), the sidewall of the medicine tank (5) is provided with a medicine filling port (7), the oil tank (4) is internally provided with a first liquid level sensor, the medicine tank (5) is internally provided with a second liquid level sensor, the hangar (3) is internally provided with a first controller and a first communication device, the first controller is electrically connected with the first communication device, and the first communication device is wirelessly connected with the unmanned aerial vehicle body (1).
3. The full-automatic oiling adds agricultural unmanned aerial vehicle's of medicine platform that takes off and land of claim 2, characterized in that, oiling device includes second electric telescopic handle (8), adds oil pipe (9) and first mounting panel (10), first mounting panel (10) cover is established in adding oil pipe (9) outside, first mounting panel (10) lateral wall with the flexible end fixed connection of second electric telescopic handle (8), second electric telescopic handle (8) stiff end with machine storehouse (3) left side wall fixed connection, add oil pipe (9) and set up to flexible pipe, the mouth of pipe of adding oil pipe (9) corresponds oil filler hole (6), it is scalable to insert to add oil pipe (9) in oil filler hole (6), second electric telescopic handle (8) with first controller electric connection.
4. The lifting platform of claim 2, wherein the dosing device comprises a third electric telescopic rod (11), a dosing pipe (12) and a second mounting plate (13), the second mounting plate (13) is sleeved outside the dosing pipe (12), the side wall of the second mounting plate (13) is fixedly connected with the telescopic end of the third electric telescopic rod (11), the fixed end of the third electric telescopic rod (11) is fixedly connected with the right side wall of the hangar (3), the dosing pipe (12) is arranged to be a telescopic pipe, the orifice of the dosing pipe (12) corresponds to the dosing port (7), the dosing pipe (12) is telescopically inserted into the dosing port (7), and the third electric telescopic rod (11) is electrically connected with the first controller.
5. The take-off and landing platform of the full-automatic oiling and dosing agricultural unmanned aerial vehicle as claimed in claim 1, wherein the take-off and landing platform (2) further comprises two cover plates (14) and a fourth electric telescopic rod, the two cover plates (14) are arranged in bilateral symmetry with respect to the center line of the hangar (3), one ends of the two cover plates (14) away from each other are hinged to the upper end of the shell of the take-off and landing platform (2), the cover plates (14) can rotate along the hinged position, the fourth electric telescopic rod is arranged between the cover plates (14) and the inner wall of the hangar (3) close to the cover plates (14), and the two cover plates (14) can seal the hangar (3) under the action of the fourth electric telescopic rod.
6. The take-off and landing platform of the full-automatic oiling and dosing agricultural unmanned aerial vehicle as claimed in claim 1, wherein the automatic landing system comprises: the unmanned aerial vehicle comprises a second communication device, a second controller, a positioning device, a shooting device, a processor and a third communication device, wherein the second communication device reaches the second controller is arranged inside the hangar (3), the second controller is electrically connected with the second communication device, the positioning device is arranged in the unmanned aerial vehicle body (1), the positioning device is arranged in the processor, the third communication device is arranged in the unmanned aerial vehicle body (1), the positioning device is arranged in the shooting device, the third communication device is respectively electrically connected with the processor, the third communication device is wirelessly connected with the second communication device, and the processor is electrically connected with an internal power supply of the unmanned aerial vehicle body (1).
7. The take-off and landing platform of the full-automatic refueling and dosing agricultural unmanned aerial vehicle as claimed in claim 1, characterized in that the unmanned aerial vehicle body (1) is also provided with a supporting device, the supporting device comprises four supporting columns (17), a supporting plate (18) and a rack component, the four supporting columns (17) are arranged at four corners of the lower side of the unmanned aerial vehicle body (1), four corners of the supporting plate (18) are respectively fixedly connected with the inner side walls of the four supporting columns (17), the upper surface of the supporting plate (18) is fixedly connected with the lower surface of the oil tank (4) and the lower surface of the medicine box (5), the lower ends of the supporting columns (17) are provided with mounting holes (19), the four supporting columns (17) are arranged into two groups, the stand components are arranged into two groups, the two groups of stand components respectively correspond to the two groups of supporting columns (17), the frame component comprises two sliding columns (20), two buffer springs (21) and a base (22), the base (22) is arranged between the two sliding columns (20), the two ends of the base (22) are respectively and fixedly connected with the lower ends of the sliding columns (20) at the two sides, the sliding column (20) is arranged in the mounting hole (19) in a sliding way, one end of the buffer spring (21) is fixedly connected with the upper end of the sliding column (20), the other end of the buffer spring (21) is fixedly connected with the inner wall of the upper side of the mounting hole (19).
8. The take-off and landing platform of the full-automatic oiling and dosing agricultural unmanned aerial vehicle as claimed in claim 7, wherein a guiding device is further arranged in the hangar (3), the guiding device comprises two sets of guiding assemblies and two first magnetic blocks (39), the two sets of guiding assemblies correspond to the two bases (22) one by one, the two first magnetic blocks (39) are symmetrically arranged on the inner wall of the rear side of the hangar (3) close to the upper end position, the two first magnetic blocks (39) are bilaterally symmetrical with respect to the center line of the lifting platform (16), and the guiding assembly comprises:
the lower pressure column (40) is arranged right below the base (22), a lower pressure plate (41) is arranged at the upper end of the lower pressure column (40), the upper surface of the lower pressure plate (41) is in contact with the lower surface of the base (22), the lower end of the lower pressure column (40) penetrates through the lifting platform (16) and extends to the position below the lifting platform (16), and the lower pressure column (40) is in sliding connection with a through hole of the lifting platform (16);
the connecting plate (42) is arranged at the lower end of the lower pressing column (40), the connecting plate (42) is perpendicular to the lower pressing column (40), a second magnetic block (43) matched with the first magnetic block (39) is arranged on the upper surface of the connecting plate (42), and the first magnetic block (39) can be attracted with the second magnetic block (43);
the third spring (44) is sleeved on the lower pressure column (40), one end of the third spring (44) is fixedly connected with the lower surface of the lower pressure plate (41), and the other end of the third spring (44) is fixedly connected with the upper surface of the lifting table (16);
the two third sliding rails (45) are symmetrically arranged on the left side and the right side of the lower pressing column (40), the lower surface of each third sliding rail (45) is fixedly connected with the upper surface of the lifting platform (16), each third sliding rail (45) is provided with a third sliding plate (46) in a sliding manner, each third sliding plate (46) slides left and right along the corresponding third sliding rail (45), the two third sliding plates (46) are positioned on the left side and the right side of the lower pressing plate (41), the front side walls of the two third sliding plates (46) are provided with second connecting rods (47), one ends of the second connecting rods (47) are hinged to the front side walls of the third sliding plates (46), and the other ends of the second connecting rods (47) extend to the lower part of the lifting platform (16) and are hinged to the lower end of the lower pressing column (40);
the limiting block (48) is arranged on the upper surface of the third sliding rail (45), the lower end of the limiting block (48) is fixedly connected with the upper surface of the third sliding rail (45), and the limiting block (48) is positioned on one side, far away from the lower pressing column (40), of the third sliding plate (46);
the guide plates (49) are obliquely arranged at the upper end of the third sliding plate (46), the lower ends of the guide plates (49) are fixedly connected with the upper end of the third sliding plate (46), the two guide plates (49) are bilaterally symmetrical relative to the base (22), and the vertical distance between the upper ends of the two guide plates (49) is greater than that between the lower ends of the two guide plates (49).
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WO2023172224A1 (en) * 2022-03-07 2023-09-14 Met İleri̇ Teknoloji̇ Si̇stemleri̇ Mühendi̇sli̇k İmalat İthalat Ve İhracat Ti̇caret Li̇mi̇ted Şi̇rketi̇ An unmanned aerial vehicle maintenance station
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