CN113815888A

CN113815888A - Unmanned aerial vehicle position locking and automatic charging device based on L type push rod

Info

Publication number: CN113815888A
Application number: CN202111255237.0A
Authority: CN
Inventors: 张卫东; 芦亚斌; 谢威; 张国庆; 王文岭
Original assignee: Hainan University
Current assignee: Hainan University
Priority date: 2021-10-27
Filing date: 2021-10-27
Publication date: 2021-12-21
Anticipated expiration: 2041-10-27
Also published as: CN113815888B

Abstract

The invention relates to an unmanned aerial vehicle position locking and automatic charging device based on an L-shaped push rod, which comprises: a shutdown platform: the square unmanned aerial vehicle is arranged on a naval vessel and used for bearing and locking the unmanned aerial vehicle and realizing charging; the push rod assembly: the device comprises four guide sleeves which are respectively arranged at four corners of a shutdown platform and point to a preset shutdown area of the shutdown platform in directions, and push rods which are respectively matched with the guide sleeves and are arranged at different height positions in the vertical direction, wherein each push rod consists of a tail guide rod which is inserted into the guide sleeves and driven to move in a telescopic manner, and an L-shaped head which is integrally formed with the tail guide rod; a charging component: the charging device comprises a charging circuit arranged on a shutdown platform and a charging interface connected with the charging circuit; a control unit: be connected with the subassembly and the push rod subassembly that charge respectively for show unmanned aerial vehicle's locking and the action of charging. Compared with the prior art, the invention has the advantages of preventing error falling, high practicability and stability, reducing damage and the like.

Description

Unmanned aerial vehicle position locking and automatic charging device based on L type push rod

Technical Field

The invention relates to the technical field of recovery and fixation of a marine unmanned aerial vehicle during landing, in particular to an unmanned aerial vehicle position locking and automatic charging device based on an L-shaped push rod.

Background

The existing recovery and fixation methods of the offshore unmanned aerial vehicle comprise a runway recovery method, a parachuting recovery method, a hook lock recovery method, a net collision recovery method, a push rod recovery method and the like, most of the methods are suitable for recovering the unmanned aerial vehicle on a land static platform, and many of the existing methods are not suitable for offshore landing platforms with more complex environments.

The parachute landing recovery method in the existing recovery method of the offshore unmanned aerial vehicle has large errors and risks, and is not suitable for recovery of a landing boat with high precision requirement; the net collision recovery method is mainly designed for the fixed-wing unmanned aerial vehicle, and has great damage to other parts of the unmanned aerial vehicle in the recovery process; the existing push rod recovery method is a two-push rod method, namely, two straight push rods with tooth-shaped structures are used for clamping and fixing the unmanned aerial vehicle, the method has extremely high landing precision requirements on the unmanned aerial vehicle, and the recognition and automatic landing precision of the offshore unmanned aerial vehicle cannot reach the high precision.

Disclosure of Invention

Aiming at overcoming the defects in the prior art, the invention provides the unmanned aerial vehicle position locking and automatic charging device based on the L-shaped push rod, analyzes and refers to the advantages and improves the defects of the prior art, and designs a new recovery fixing device based on the push rod recovery method, thereby ensuring that the unmanned aerial vehicle can fully contain the landing error in the recovery process and ensuring the stability and the safety of the unmanned aerial vehicle under the complex marine environment.

The purpose of the invention can be realized by the following technical scheme:

the utility model provides an unmanned aerial vehicle position locking and automatic charging device based on L type push rod, the device includes:

a shutdown platform: the square unmanned aerial vehicle is arranged on a naval vessel and used for bearing and locking the unmanned aerial vehicle and realizing charging;

the push rod assembly: the unmanned aerial vehicle parking device comprises four guide sleeves which are respectively installed at four corners of a parking platform and point to a preset parking area of the parking platform in directions, and push rods which are respectively matched with the guide sleeves and are arranged at different height positions in the vertical direction, wherein each push rod consists of a tail guide rod which is inserted into the guide sleeves and driven to move in a telescopic manner and an L-shaped head which is integrally formed with the tail guide rod;

a charging component: the charging device comprises a charging circuit arranged on a shutdown platform and a charging interface connected with the charging circuit;

a control unit: be connected with the subassembly and the push rod subassembly that charge respectively for show unmanned aerial vehicle's locking and the action of charging.

The unmanned aerial vehicle bottom undercarriage is provided with four vertically arranged support rods respectively, and the shape of a rectangle formed by connecting lines of vertexes of the four support rods is the same as that of a preset shutdown area.

The push rods at different height positions in the vertical direction are sequentially a first push rod, a third push rod, a second push rod and a fourth push rod from low to high, and the four corners of the shutdown platform corresponding to the first push rod, the second push rod, the third push rod and the fourth push rod are sequentially arranged in the clockwise direction.

The L-shaped head of each push rod consists of two vertical side rods, and the inner ends of the two side rods are respectively connected with the outer ends of the tail guide rods.

The length of the two vertical side rods is respectively equal to half of the length of the long side and the short side of the shutdown platform.

The shutdown platform is provided with a pressure sensor for judging whether the unmanned aerial vehicle lands or not through a set pressure threshold range.

The stopping platform is provided with a first limit switch at the edge position of the stopping platform, namely the initial position where the push rod is retracted, and a second limit switch at the edge position of a preset stopping area, namely the maximum push-out clamping position.

Each push rod is driven by a corresponding push rod driving unit to perform telescopic motion, and the push rod driving unit is composed of a driving motor and a transmission piece.

The interface that charges set up respectively on the L type head of push rod and the vaulting pole of undercarriage, and the interface that charges carries out the joint through having magnetism and inhale supplementary mechanical buckle and charge.

The specific working principle of the device is as follows:

after the unmanned aerial vehicle lands on the stopping platform, when the unmanned aerial vehicle is judged to be the unmanned aerial vehicle through the pressure sensor, the control unit sends a starting signal to the driving motor, the driving motor rotates forwards to drive the four push rods to extend outwards simultaneously, the unmanned aerial vehicle is pushed to a preset stopping area to move, when the unmanned aerial vehicle is pushed into the preset stopping area by the push rods, the push rods at different height positions are in a cross shape to further clamp and lock the undercarriage of the unmanned aerial vehicle, the push rods are in physical butt joint with a charging interface on the undercarriage, at the moment, the push rod positions trigger the second limit switch, the control unit sends a stopping signal to the driving motor and enables a relay switch of a charging circuit to be closed simultaneously, and the charging circuit charges the unmanned aerial vehicle through the charging interface;

when the unmanned aerial vehicle takes off, the control unit disconnects a relay switch of the charging circuit, stops charging, sends a starting signal to the driving motor, the driving motor rotates reversely to drive the four push rods to retract inwards at the same time, and when the position of the push rod triggers the first limit switch, the control unit sends a stopping signal to the driving motor to complete the resetting of the position of the push rod.

Compared with the prior art, the invention has the following advantages:

firstly, the pressure sensor is added in the position locking scheme and used for detecting whether the unmanned aerial vehicle lands or not, a proper pressure threshold value interval is set according to the quality of the unmanned aerial vehicle, when the unmanned aerial vehicle lands, a signal is triggered to drive the motor, automatic execution without manual operation is achieved, and the proper pressure threshold value is set, so that the position locking device can be prevented from being touched by mistake due to the fact that other objects fall on the shutdown platform to a certain extent.

The device adopts four L-shaped push rods, the complexity of the shutdown environment of the offshore unmanned aerial vehicle and the landing error of the unmanned aerial vehicle are fully considered from the design of the number, the shape and the length of the push rods, and the practicability and the stability of the scheme are ensured.

Three, this device is retrieved and is little to unmanned aerial vehicle's damage with fixed in-process, the push rod is the undercarriage with unmanned aerial vehicle contact segment, do not have the influence to other positions of unmanned aerial vehicle, it is different with existing two push rod fixing methods, this device has utilized four push rods, push rod initial position is at the edge of platform, the length on two limits of push rod equals half of the length on two adjacent limits of rectangle platform respectively, the aim at of design so no matter unmanned aerial vehicle drops on any position on the platform, it is fixed to push away it to settlement position all accessible push rods, the comprehensiveness of this design scheme has been embodied, steadiness and suitability, four push rods can accomplish anti the anti rocking of anti wind after the position locking to the structure of enclosing entirely of unmanned aerial vehicle base simultaneously, charge for unmanned aerial vehicle safety and provide the condition.

The automatic position locking and charging system is designed based on STM32, the automation degree of the device is high, the full-automatic operation can be realized through programming, and special personnel operation is not needed.

Drawings

Fig. 1 is a schematic diagram of a process for preparing for landing by a drone.

Fig. 2 is a schematic diagram of the process of landing the drone to the recovery platform.

Fig. 3 is a schematic diagram of the process of starting the operation of the push rod of the recovery platform.

Fig. 4 is a schematic diagram of the process of completing the recovery work of the drone.

Fig. 5 is a schematic view of the initial positions of the four pushers.

Fig. 6 is the effect schematic diagram of fixed back push rod centre gripping unmanned aerial vehicle.

Fig. 7 is a block diagram of the entire control process.

The notation in the figure is:

1. first push rod, 2, second push rod, 3, third push rod, 4, fourth push rod, 5, shut down the platform, 6, guide pin bushing, 7, unmanned aerial vehicle, 8, undercarriage.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments.

Examples

As shown in fig. 1-6, the invention provides a recovery fixing and automatic charging device for a marine unmanned aerial vehicle, which comprises a shutdown platform, four L-shaped push rods with different high and low positions, a push rod driving unit and a charging assembly, wherein the four L-shaped push rods are arranged at the same height; the initial positions of the four L-shaped push rods are respectively positioned at four corners of the offshore landing and stopping platform, two sides of each L-shaped push rod are coincided with the edge of the platform, and the top point of each L-shaped push rod is coincided with the top point of the stopping platform; the charging assembly is a charging interface and a charging and power-off circuit which can be automatically connected.

The apex angle departments of four L type push rods link to each other with corresponding driving motor's rotor drive part (for example driving medium such as screw rod, lead screw or bevel gear), and driving motor's base fixed mounting is on the guide pin bushing that is fixed in the platform four corners, and the motor is the direct current 24V motor, and four push rods accomplish closed motion under motor drive, promote unmanned aerial vehicle to reach the position of settlement.

Two length of side of L type push rod equals respectively and shuts down the half of the length on the adjacent both sides of platform, and the aim at of design like this considers that the package takes all possible errors that unmanned aerial vehicle descends on the platform, no matter unmanned aerial vehicle descends and can reach the position requirement of retrieving in the optional position of shutting down the platform.

The four L-shaped push rods are different in vertical high-low positions, the first push rod is the lowest in position, the third push rod which is in a diagonal position with the first push rod is in the second lower position, the second push rod which is adjacent to the first push rod is in the second higher position, and the fourth push rod which is in a diagonal position with the second push rod is the highest position.

When the unmanned aerial vehicle is fixed to a preset position by the four L-shaped push rods, two rods are arranged on four side faces of the unmanned aerial vehicle landing gear which is formed by taking the four vertical landing gears of the unmanned aerial vehicle as vertexes and are clamped and fixed, the first side face is fixed by one edge of the first push rod and one edge of the fourth push rod, the second side face is fixed by the other edge of the first push rod and one edge of the second push rod, the third side face is fixed by the other edge of the second push rod and one edge of the third push rod, and the fourth side face is fixed by the other edge of the third push rod and the other edge of the fourth push rod.

When four L type push rods are fixed unmanned aerial vehicle in the preset position, four vaulting poles of unmanned aerial vehicle undercarriage are located the apex angle department of four L type push rods respectively, are located the closed department on two L type push rod both sides simultaneously, reach all-round fixed unmanned aerial vehicle's effect, have fully considered great stormy waves on the sea and have swayd unstable factor such as to this reinforcing is to the fixed stable effect of unmanned aerial vehicle.

After the push rod locks the unmanned aerial vehicle position, the interface that charges that is located on push rod and the unmanned aerial vehicle undercarriage is automatic to be connected, charges for unmanned aerial vehicle.

The specific connection mode of the charging interface adopts a mechanical buckle automatic closing mode with magnetic attraction assistance, the mechanical buckle specifically adopts a plug-in mode that a male end connector is matched with a female end interface to realize buckling, the magnetic attraction assistance realizes suction and release through an electromagnetic relay switch controlled by a control unit, and in the embodiment, an electric leakage protection device is added in a charging circuit to protect the safety of the unmanned aerial vehicle in the charging process.

Be equipped with pressure sensor on the platform of stopping, this pressure sensor is used for detecting whether unmanned aerial vehicle descends, if detect that unmanned aerial vehicle has descended and on the platform, then transmission signal gives the control unit, control motor drive push rod motion.

After the push rod moves to a set position, a limit switch on the shutdown platform is triggered, the limit switch sends a signal, the control unit controls the motor to stop rotating, and the position of the unmanned aerial vehicle is locked; and meanwhile, the relay switch of the charging circuit is controlled to be closed, and the unmanned aerial vehicle starts to charge.

When the unmanned aerial vehicle wants to take off, the signal is transmitted to the control unit, the relay switch of the charging circuit is controlled to be switched off, charging is finished, the motor is controlled to rotate reversely, the push rod is retracted, and the unmanned aerial vehicle takes off.

When the push rod withdraws, limit switch is equipped with at the push rod initial position, triggers limit switch when the push rod is retrieved initial position, makes driving motor stop, and the push rod resets, waits for unmanned aerial vehicle to descend next time.

As shown in fig. 7, in this example, according to the fixed requirement design installation push rod of landing of unmanned aerial vehicle, fixed mechanical arm and dc motor, design control circuit, accomplish circuit board according to the circuit original image and build, initialize main control STM32, installation pressure sensor sets up the threshold value according to unmanned aerial vehicle weight and is used for transmitting the signal that unmanned aerial vehicle descends, transmit the signal to main control STM32 with the form of level, the programming through the network port realizes the processing to pressure signal and transmits to motor drive control circuit, dc motor drive control circuit reasonable in design, when the level signal that corresponding interface received STM32 and transmitted, through the state of the voltage control motor at control motor both ends. The push rod is connected to the electric motor rotor end, push rod initial position and terminal position all are equipped with limit switch, promote unmanned aerial vehicle and retrieve the in-process at the push rod and all pass the signal that the main control push rod has target in place through the mode that triggers limit switch, the state of driving motor is controlled again to the main control, give a closed charging circuit relay switch of signal again after the unmanned aerial vehicle position locking, begin automatic charging, give a signal when unmanned aerial vehicle takes off, reverse execution is once to above-mentioned flow, the push rod resets, accomplish once fixed and the task of charging.

Claims

1. The utility model provides an unmanned aerial vehicle position locking and automatic charging device based on L type push rod, its characterized in that, the device includes:

shutdown platform (5): the square unmanned aerial vehicle is arranged on a naval vessel and used for bearing and locking the unmanned aerial vehicle and realizing charging;

the push rod assembly: the unmanned aerial vehicle parking device comprises four guide sleeves (6) which are respectively arranged at four corners of a parking platform (5) and point to a preset parking area of the parking platform (5) in directions, and push rods which are respectively matched with the guide sleeves (6) and are arranged at different height positions in the vertical direction, wherein each push rod consists of a tail guide rod which is inserted into the guide sleeves (6) and driven to do telescopic motion and an L-shaped head which is integrally formed with the tail guide rod;

a charging component: the system comprises a charging circuit arranged on a shutdown platform (5) and a charging interface connected with the charging circuit;

2. The device of claim 1, wherein the undercarriage at the bottom of the unmanned aerial vehicle is provided with four vertically arranged support rods, and a rectangle formed by connecting the vertexes of the four support rods is the same as a preset parking area.

3. The unmanned aerial vehicle position locking and automatic charging device based on L-shaped push rods is characterized in that the push rods at different height positions in the vertical direction are sequentially a first push rod (1), a third push rod (3), a second push rod (2) and a fourth push rod (4) from low to high, and the first push rod (1), the second push rod (2), the third push rod (3) and the fourth push rod (4) are sequentially arranged along the clockwise direction corresponding to four corners of the shutdown platform (5).

4. The unmanned aerial vehicle position locking and automatic charging device based on L type push rod of claim 3, characterized in that, the L type head of each push rod comprises two perpendicular side bars, and two side bar inner ends are connected with tail guide arm outer end respectively.

5. The device of claim 4, wherein the length of the two vertical side rods is equal to half of the length of the long side and the short side of the parking platform (5).

6. The unmanned aerial vehicle position locking and automatic charging device based on L type push rod of claim 1, characterized in that shut down platform (5) on be equipped with pressure sensor for whether descend for unmanned aerial vehicle through the pressure threshold range of setting for.

7. The device for locking the position of the unmanned aerial vehicle and automatically charging the unmanned aerial vehicle based on the L-shaped push rod is characterized in that a first limit switch is arranged on the stopping platform (5) at the edge position of the stopping platform (5), namely the initial position of the retraction of the push rod, and a second limit switch is arranged at the edge position of a preset stopping area, namely the maximum push-out clamping position.

8. The unmanned aerial vehicle position locking and automatic charging device based on L-shaped push rods is characterized in that each push rod is driven to perform telescopic motion through a corresponding push rod driving unit, and the push rod driving unit is composed of a driving motor and a transmission piece.

9. The unmanned aerial vehicle position locking and automatic charging device based on L type push rod of claim 7, characterized in that the interface that charges set up respectively on the L type head of push rod and the vaulting pole of undercarriage, and the interface that charges carries out the joint through having supplementary mechanical buckle of magnetism to inhale and charges.

10. The unmanned aerial vehicle position locking and automatic charging device based on L type push rod of claim 9, characterized in that, this device's specific theory of operation is: