CN113859566B - Lifting and leveling take-off and landing platform, device and method for vehicle-mounted unmanned aerial vehicle - Google Patents
Lifting and leveling take-off and landing platform, device and method for vehicle-mounted unmanned aerial vehicle Download PDFInfo
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0658—Multiple scissor linkages horizontally arranged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0683—Scissor linkage plus tilting action
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
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- Aviation & Aerospace Engineering (AREA)
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- Public Health (AREA)
- Transportation (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a lifting and leveling landing platform, a device and a method for a vehicle-mounted unmanned aerial vehicle, which comprise the following steps: the system comprises a platform body and two groups of lifting mechanisms, wherein a bearing surface for stopping the unmanned aerial vehicle is formed on one side of the platform body, the lifting mechanisms are respectively arranged at two ends of the other side of the platform body, and the telescopic ends of the lifting mechanisms are connected with the platform body; the inclination angle detection device comprises an inclination angle detection sensor and a controller in signal connection with the inclination angle detection sensor, wherein the inclination angle detection sensor is used for detecting the inclination angle of the bearing surface of the platform body; and the driving mechanism is used for respectively controlling the two groups of lifting mechanisms to act, and is in signal connection with the controller, and the controller sends a control instruction to the driving mechanism according to the detected inclination angle by arranging the inclination angle detection device on the platform body and detecting the inclination angle of the bearing surface of the platform body so as to control the lifting mechanisms to act and adjust the height of the platform, so that the aircraft can take off and land normally.
Description
Technical Field
The invention belongs to the field of vehicle-mounted unmanned aerial vehicles, and particularly relates to a vehicle-mounted unmanned aerial vehicle lifting and leveling take-off and landing platform, device and method.
Background
The unmanned plane is an unmanned plane and can be controlled by a ground controller through a remote controller or a program to execute a preset flight task. The multi-rotor unmanned aerial vehicle is an important branch of the unmanned aerial vehicle, and provides flying power through a plurality of propellers which are symmetrically installed, and the multi-rotor unmanned aerial vehicle achieves stable balance by changing the rotating speed of each propeller. The multi-rotor unmanned aerial vehicle can vertically take off and land, has a simple structure, is mature and stable in control technology, and has been rapidly developed in the civil field in recent years.
Due to the rapid progress of the technology, the multi-rotor unmanned aerial vehicle is gradually enriched in application in the military field, and can carry out the tasks of patrol reconnaissance, ground warning monitoring, communication distance expansion and the like after carrying loads such as photoelectric pods, communication relays and the like. Different from civil multi-rotor unmanned aerial vehicle, military multi-rotor unmanned aerial vehicle has the advantages of large load weight, long cruising time, and larger take-off weight and size due to the influence of factors such as environmental adaptability and electromagnetic compatibility. The vehicle-mounted unmanned aerial vehicle system formed by deploying the multi-rotor unmanned aerial vehicle on the carrier vehicle can effectively improve the maneuvering performance of the unmanned aerial vehicle, the unmanned aerial vehicle takes off and recovers to realize automation, the workload of auxiliary work such as personnel carrying and unfolding can be obviously reduced, and the safety of personnel in complex environments such as battlefields can be improved through remote control operation in the vehicle. The vehicle-mounted unmanned aerial vehicle system automatically receives and releases the unmanned aerial vehicle by installing a shelter at the rear part of the transport vehicle, the unmanned aerial vehicle is received inside the shelter in a driving state, and when the vehicle-mounted unmanned aerial vehicle system is used, the shelter top cover is opened, and the lifting platform ascends to lift the unmanned aerial vehicle outside the shelter.
Under the on-vehicle transportation condition, unmanned aerial vehicle take-off and landing platform and horizontal plane angle are great when the transport vechicle parks at the abrupt slope, many rotor unmanned aerial vehicle can't take off and land this moment, therefore lift platform need have the auto leveling function in the fore-and-aft direction. At present, many rotor unmanned aerial vehicle adopts the satellite navigation mode to fix a position mostly, and the error that positioning error and flight control produced, and repeated positioning accuracy is low when unmanned aerial vehicle descends, for making unmanned aerial vehicle delivery shelter minimum, lift platform need remove unmanned aerial vehicle to the platform center and lock on smooth platform surface is automatic. In summary, it is necessary to design a lifting and leveling lifting platform of a vehicle-mounted unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide a lifting platform, a lifting device and a lifting method for lifting and leveling of a vehicle-mounted unmanned aerial vehicle.
The invention is realized by the following technical scheme:
a vehicle-mounted unmanned aerial vehicle lift leveling take-off and landing platform, comprising:
The system comprises a platform body and two groups of lifting mechanisms, wherein a bearing surface for stopping the unmanned aerial vehicle is formed on one side of the platform body, the lifting mechanisms are respectively arranged at two ends of the other side of the platform body, and the telescopic ends of the lifting mechanisms are connected with the platform body;
The inclination angle detection device comprises an inclination angle detection sensor and a controller in signal connection with the inclination angle detection sensor, and the inclination angle detection sensor is used for detecting the inclination angle of the bearing surface of the platform body; and the driving mechanism is used for controlling the two groups of lifting mechanisms to act respectively, and is connected with the controller in a signal manner.
The existing vehicle-mounted unmanned aerial vehicle system generally carries out automatic retraction of an unmanned aerial vehicle by installing a shelter at the rear part of a transport vehicle, under the vehicle-mounted transport condition, when the transport vehicle is parked on a steep slope, a large inclination angle exists between a landing platform of the unmanned aerial vehicle and a horizontal plane, at the moment, the unmanned aerial vehicle with multiple rotors cannot take off and land due to overlarge inclination angle of the platform, an automatic leveling structure is needed to be arranged to help level the landing platform, so that the unmanned aerial vehicle can take off and land normally.
Further, the platform comprises at least one inclination angle detection sensor, the platform body is of a square structure, the bearing surface of the unmanned aerial vehicle is a smooth surface made of an anti-rust material, the platform body is processed into the square structure, the direction is determined when the inclination angle detection sensor detects the inclination angle detection sensor conveniently, the leveling precision is improved favorably, and the platform body with the smooth surface is favorable for reducing power required by the unmanned aerial vehicle when moving on the platform.
Further, install rotatory hinge support on the platform main part, elevating system's flexible end is equipped with fixed hinge support, rotatory hinge support forms revolute pair with fixed hinge support, elevating system's flexible end through fixed hinge support with the platform body articulates, elevating system is not direct contact with the platform main part like this, avoids rocking the detection precision that influences inclination detection sensor when elevating system moves.
Further, the lifting mechanism is a scissor type lifting mechanism, the telescopic end of the scissor type lifting mechanism connected with the platform main body is divided into a fixed end and a movable end, the fixed end of the scissor type lifting mechanism is hinged with the platform main body, a leveling sliding plate is arranged on the platform main body, the movable end of the scissor type lifting mechanism is connected with a leveling sliding block arranged in a sliding groove of the leveling sliding plate, the two scissor type lifting mechanisms can synchronously move or can not synchronously move, a platform lifting function can be achieved during synchronous movement, and a platform leveling function can be achieved during asynchronous movement.
Further, the inclination angle detection sensor is arranged in parallel with the platform body, and because the platform body is of a rigid structure, when the platform body is inclined, the inclination angle detection sensor is consistent with the inclination direction of the platform body, and the detected inclination angle is the inclination angle of the platform body.
Further, the driving mechanism comprises an electric cylinder, a servo motor and a translational sliding plate, wherein the servo motor and the translational sliding plate are arranged on the electric cylinder, the translational sliding plate is arranged at an extending opening of the electric cylinder, the other end of the scissor type lifting mechanism, opposite to the telescopic end, is connected with a translational sliding block arranged in a sliding groove of the translational sliding plate, and the electric cylinder is driven by the servo motor to extend forwards to push the scissor type lifting mechanism to do lifting motion.
In addition, the invention provides a lifting and leveling take-off and landing method of the vehicle-mounted unmanned aerial vehicle, which is applied to the lifting and leveling take-off and landing platform of the vehicle-mounted unmanned aerial vehicle, and comprises the following specific processes:
The controller receives the inclination angle of the bearing surface of the platform body detected by the inclination angle detection sensor in real time;
the controller judges according to the detected inclination angle, generates a control instruction according to the judging result,
The controller sends a control instruction to the driving mechanism; the control driving mechanism drives the two groups of lifting mechanisms to do lifting motion in the direction vertical to the plane where the platform body is located.
The controller judges in real time according to the inclination angle, so that the lifting mechanism is controlled to adjust the inclination angle of the platform in real time, the leveling effect is good, the processing speed is high, and the leveling efficiency is improved.
Further, the inclination angle detection sensor is arranged in parallel with the platform body, and is used for detecting inclination angles of the platform body in the X direction and the Y direction, wherein the X direction is the direction in which the width of the vehicle is located, and the Y direction is the direction parallel to the running direction of the vehicle.
Further, the controller continuously judges whether the inclination angle detected in the X direction exceeds an angle threshold value;
If the angle threshold is not exceeded, the controller continuously judges whether the inclination angle detected in the Y direction exceeds the lower threshold limit,
If the inclination angle detected in the Y direction is within a threshold interval between the upper threshold limit and the lower threshold limit, the controller sends a control instruction to control the lifting mechanism to perform lifting movement in a direction perpendicular to the plane of the platform body to perform leveling, and the leveling in the Y direction is completed until the inclination angle detected in the Y direction is smaller than the lower threshold limit.
The utility model provides a vehicle-mounted unmanned aerial vehicle lift leveling take-off and landing device, including foretell vehicle-mounted unmanned aerial vehicle lift leveling take-off and landing platform, still include two front and back flat-pushing mechanisms that are axisymmetric mode and install in platform body top, two left and right flat-pushing mechanisms and at least three speed reduction drive arrangement, two front and back flat-pushing mechanisms after the installation, left and right flat-pushing mechanisms form the square region that is used for unmanned aerial vehicle to take off and descend, each speed reduction drive arrangement is used for driving two left and right flat-pushing mechanisms and/or two left and right flat-pushing mechanisms respectively and moves towards the center department synchronous opposite direction or reverse motion of square region that forms, because two front and back flat-pushing mechanisms and left and right flat-pushing mechanisms can only do parallel motion in respective direction, the square region that finally forms is located the center department of platform body, under the circumstances of platform body and horizontal plane in help unmanned aerial vehicle removal to the center of platform body and lock, help making unmanned aerial vehicle delivery shelter minimum.
Compared with the prior art, the invention has the following advantages and beneficial effects:
According to the invention, the inclination angle of the bearing surface of the platform body is detected by the inclination angle detection device, the controller sends a control instruction to the driving mechanism according to the detected inclination angle so as to control the lifting mechanism to act and adjust the height of the platform, so that the aircraft can take off and land normally, the inclination angle detection sensor can be arranged in parallel with the platform body, the platform body can also be processed into a square structure, the bearing surface of the off-load unmanned aerial vehicle is set to be a smooth surface made of an antirust material, on one hand, the direction is conveniently determined when the inclination angle detection sensor detects, the leveling precision is favorably improved, and on the other hand, the platform body with the smooth surface is favorably reduced power required when the unmanned aerial vehicle moves on the platform.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are needed in the examples will be briefly described below, it being understood that the following drawings only illustrate some examples of the present invention and therefore should not be considered as limiting the scope, and that other related drawings may be obtained from these drawings without inventive effort for a person skilled in the art. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of a leveling landing platform provided in embodiment 1 of the present invention;
FIG. 2 is a right side view of the entire structure of the leveling landing platform provided in embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of a lifting mechanism according to embodiment 1 of the present invention;
FIG. 4 is a leveling method according to embodiment 2 of the present invention;
fig. 5 is a top view of the structure of the lifting and leveling lifting device provided in embodiment 3 of the present invention;
FIG. 6 is a bottom view of the structure of the lifting/leveling lifting device provided in embodiment 3 of the present invention;
fig. 7 is a structural cross-sectional view of the unmanned aerial vehicle landing gear according to embodiment 3 of the present invention when fixed to the platform main body.
In the drawings, the reference numerals and corresponding part names:
The device comprises a platform body, a 11-rotary hinged support, a 12-leveling sliding plate, a 13-leveling slide block, a 14 hinge pin, a 2-lifting mechanism, a 21-fixed hinged support, a 22-fixed end, a 23-movable end, a 24-sliding end, a 25-connecting end, a 3-inclination angle detection sensor, a 4-driving mechanism, a 41-electric cylinder, a 42-translational sliding plate, a 43-electric cylinder support, a 5-front and back push mechanism, a 51-front and back push plate, a 52-transmission shaft, a 53-guide shaft, a 54-guide shaft support, a 55-coupling, a 56-rack, a 57-gear, a 6-left and right push mechanism, a 61-lead screw, a 62-slide block, a 63-guide rail, a 64-guide rail support, a 65-left and right push plate, a 66-fixed plate, a 67-spring, 68-pin screw, a 7-reduction driving device, a 71-speed reducer, a 72-servo motor, an 8-mounting plate, a 81-hinged support, a 9-unmanned aerial vehicle and a 91-unmanned aerial vehicle landing gear cross bar.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: no such specific details are necessary to practice the invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail in order not to obscure the invention.
Throughout the specification, references to "one embodiment," "an embodiment," "one example," or "an example" mean: a particular feature, structure, or characteristic described in connection with the embodiment or example is included within at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an example," or "in an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Moreover, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and that the illustrations are not necessarily drawn to scale. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present invention.
Example 1
The lifting and leveling take-off platform of the vehicle-mounted unmanned aerial vehicle as shown in fig. 1,2 and 3 comprises: the lifting platform comprises a platform body 1 and two groups of lifting mechanisms 2, wherein a bearing surface for stopping the unmanned aerial vehicle 9 is formed on one side of the platform body 1, the lifting mechanisms 2 are respectively arranged at two ends of the other side of the platform body 1, and the telescopic ends of the lifting mechanisms 2 are connected with the platform body 1;
The inclination angle detection device comprises an inclination angle detection sensor 3 and a controller in signal connection with the inclination angle detection sensor 3, wherein the inclination angle detection sensor 3 is used for detecting the inclination angle of the bearing surface of the platform body 1; and the driving mechanism 4 is used for respectively controlling the two groups of lifting mechanisms 2 to act, and the driving mechanism 4 is in signal connection with the controller.
Under on-vehicle transportation condition, when the transport vechicle was parked at the abrupt slope, because unmanned aerial vehicle 9 takes off and land the platform and have great inclination with the horizontal plane, many rotor unmanned aerial vehicle 9 can't take off and land because the platform inclination is too big this moment, to this kind of circumstances, often need set up the structure of auto leveling, help leveling take off and land the platform, make the aircraft can take off and land normally.
In general, the tilt sensor is used for detecting the tilt angle of the bearing surface of the platform body 1, so at least one tilt sensor 3 needs to be set, the controller can send a corresponding control instruction to control the lifting mechanism 2 to adjust according to the tilt angle detected by the tilt sensor, in order to improve the leveling precision and the working leveling efficiency, the embodiment provides the tilt sensor 3, the bearing surface for the off-load unmanned aerial vehicle 9 is a smooth surface made of an antirust material, the platform body 1 is in a square structure, the purpose is to process the platform body into a square structure so as to facilitate the determination of the direction when the tilt sensor 3 detects the tilt sensor, which is favorable for improving the leveling precision, and the platform body 1 with a smooth surface is favorable for reducing the power required when the unmanned aerial vehicle 9 moves on the platform, so as to improve the working efficiency, and in order to better detect the tilt angle of the bearing surface of the platform body 1, the tilt sensor 3 and the platform body 1 can be arranged in parallel, since the platform body 1 is in a rigid structure, when the tilt occurs, the tilt direction of the tilt sensor 3 is consistent with the platform body 1, the detected tilt angle is the tilt angle of the platform body 1, which is the detection error of the platform body 1, and the tilt precision is reduced.
Specifically, the lifting mechanism 2 is respectively arranged at two ends of the other side of the platform body 1, two ends of the lifting mechanism are two ends of the platform body 1 perpendicular to the running direction of the vehicle, the telescopic ends of the lifting mechanism 2 are connected with the platform body 1, so that the lifting mechanism 2 can act under the driving of the driving mechanism 4, the action direction is only required to do lifting movement up and down along the direction perpendicular to the platform body, and the connection mode can be fixed connection or movable connection modes such as hinging, pin joint and sliding connection, and the connection of the gears 57; in order to improve the precision of leveling the platform main body, the telescopic end of the lifting mechanism 2 is hinged with the platform main body 1, as shown in fig. 2, a rotary hinged support 11 is installed on the platform main body, the telescopic end of the lifting mechanism 2 is provided with a fixed hinged support 21, the rotary hinged support 11 and the fixed hinged support 21 form a rotary pair through a hinge pin 14, and the telescopic end of the lifting mechanism 2 is hinged with the platform main body 1 through the fixed hinged support 21, so that the lifting mechanism 2 is not in direct contact when being connected with the platform main body, and the detection precision of the inclination angle detection sensor 3 is prevented from being affected by shaking when the lifting mechanism 2 acts.
In addition, the lifting mechanism 2 may take various forms, as long as the lifting mechanism 2 can move up and down under the driving of the driving mechanism 4, the moving direction is up and down along the direction perpendicular to the platform main body, for example, a telescopic hydraulic rod, a folding rod and the like, considering the adjustable height range and telescopic travel of the lifting mechanism 2, as shown in fig. 3, the lifting mechanism 2 of this embodiment preferably uses a scissor type lifting mechanism, the scissor type lifting mechanism has four connecting ends 25, wherein two ends connected with the platform main body are telescopic ends, specifically, a fixed end 22 and a movable end 23, the fixed end 22 of the scissor type lifting mechanism is hinged with the platform main body, specifically, a rotary hinged support 11 is mounted on the platform main body, the fixed end 22 of the scissor type lifting mechanism is provided with a fixed hinged support 21, the rotary hinged support 11 forms a rotary pair with the fixed hinged support 21 with the platform main body 1, correspondingly, the platform main body is provided with a leveling sliding plate 12 for the movable end 23, the movable end 23 of the scissor type lifting mechanism is connected with a leveling plate 12 in a sliding manner, and the telescopic travel range of the leveling mechanism is adjustable.
The driving mechanism 4 may be one or two driving mechanisms, and may be one driving mechanism 4 to control the two lifting mechanisms 2 to act respectively, or two driving mechanisms 2 to control the two lifting mechanisms to act respectively may be provided, and when one driving mechanism 4 is provided, additional judgment is needed to determine which driving mechanism 4 to control, in order to increase the processing speed of the controller, the processing procedure of the controller is reduced, thereby improving the working efficiency in the leveling, preferably, as shown in fig. 3, each scissor type lifting mechanism is provided with one driving mechanism 4, each driving mechanism 4 comprises an electric cylinder 41, a servo motor installed on the electric cylinder 41 and a translation sliding plate 42 installed at the extending port of the electric cylinder 41, the other end of the scissor type lifting mechanism opposite to the extending port of the telescopic end also corresponds to two ends, one sliding end 24, one connecting end 25, the sliding end 24 is connected with a translation sliding block 62 arranged in a sliding groove of the translation sliding plate 42, the connecting end 25 is connected with the vehicle-mounted square cabin when being arranged on the vehicle-mounted square cabin, the electric cylinder 41 is driven by the servo motor to extend forwards to push the scissor type lifting mechanism to lift, the scissor type lifting mechanism slides up and down synchronously to realize the lifting function, in this way, the fixed end 22 and the connecting end 25 on one side of the scissor type lifting mechanism are movably connected but immovable, the sliding end 24 and the moving end 23 on the other side slide left and right synchronously, the moving end 23 drives the fixed end 22 to move, for the part needing to be controlled to be reduced, only one side movement needs to be controlled, so that the lifting mechanism 2 and the main body platform are more stable in the leveling process, the leveling process is not influenced, the working efficiency is improved, the two driving mechanisms 4 enable the two scissor fork type lifting mechanisms arranged at the two ends of the platform main body to synchronously move or not synchronously move, the platform lifting function can be realized during synchronous movement, and the platform leveling function can be realized during asynchronous movement.
In specific implementation of this embodiment, one implementation manner is as follows: firstly, the lifting platform of the implementation is required to be installed in a shelter at the tail part of a carrier vehicle, when the lifting platform is installed, an installation plate 8 is arranged below the lifting platform, the installation plate 8 is installed in the vehicle-mounted shelter, a hinged support 81 is further arranged on the installation plate 8, a scissor-fork type lifting mechanism is hinged with the hinged support 81 relative to two connecting ends 25 corresponding to the other end of the telescopic end, one connecting end 25 is hinged with the hinged support 81, the other connecting end 25 is connected with a translation sliding block 62 installed in a sliding groove of a translation sliding plate 42, and an electric cylinder 41 of a driving device is fixed on the installation plate 8 through an electric cylinder support 43 installed on the installation plate 8;
When the unmanned aerial vehicle 9 takes off, the scissor type lifting mechanism ascends to lift the unmanned aerial vehicle 9 out of the shelter, the controller receives the inclination angle information of the platform monitored by the inclination angle detection sensor 3 in real time, and after the controller processes the inclination angle information, a control instruction is sent to the driving mechanism 4, and the electric cylinder 41 slides on the translation sliding plate 42 under the driving of the servo motor, so that the scissor type lifting mechanism is pushed to move to realize leveling;
When the unmanned aerial vehicle 9 lands, the controller receives the inclination angle information of the platform monitored by the inclination angle detection sensor 3 in real time, sends a control instruction to the driving mechanism 4 according to the inclination angle information, and the electric cylinder 41 slides in the translational sliding plate 42 along the running direction of the vehicle under the driving of the servo motor, so that the scissor type lifting mechanism is pushed to move to the platform body 1 to be horizontal, and the unmanned aerial vehicle 9 lands on the platform.
Example 2
The embodiment relates to a lifting and leveling lifting method for a vehicle-mounted unmanned aerial vehicle, which is applied to a lifting and leveling lifting platform for the vehicle-mounted unmanned aerial vehicle in embodiment 1, and comprises the following specific processes:
The controller receives the inclination angle of the bearing surface of the platform body 1 detected by the inclination angle detection sensor 3 in real time;
the controller judges according to the detected inclination angle, generates a control instruction according to the judging result,
The controller sends a control instruction to the driving mechanism 4; the control driving mechanism 4 drives the two groups of lifting mechanisms 2 to do lifting motion in the direction vertical to the plane where the platform body 1 is located.
In the processor of the controller, various manners of judging the detected inclination angle are provided, specifically, the manner of judging the detected inclination angle is determined according to the number, types and installation positions of the sensors, for example, when a plurality of groups of inclination angle detection sensors 3 exist, the inclination angle detection sensors 3 can be used for detecting the inclination angle of the platform body 1 by comparing the data returned by the plurality of groups of inclination angle detection sensors 3 until the inclination angle is within a standard error, the detection accuracy of each sensor is different, the installation position of the inclination angle detection sensor 3 can influence the detection accuracy and effect, so long as the inclination angle of the platform body 1 can be detected, preferably, the inclination angle detection sensor 3 is arranged in parallel with the platform body 1 for better leveling, and because the platform body 1 is arranged in parallel with the ground, when the inclination occurs, the detected inclination angle is the inclination angle of the platform body 1, the inclination angle detection sensor 3 is preferably used for detecting the inclination angle of the platform body 1 in the direction X and the Y direction, wherein the width direction of the vehicle is the direction which is parallel to the Y direction of the vehicle, and the width direction of the vehicle is the Y direction which is the perpendicular to the vehicle direction.
Since the existing road surface condition is better, the inclination angle of the left and right directions, namely the X direction, of the vehicle body is not large, when the platform is arranged on the carrier vehicle, if the inclination angle of the left and right directions is within the error range, the condition when the carrier vehicle is parked on a steep slope is only considered when the take-off and landing of the multi-rotor unmanned aerial vehicle 9 is not influenced, and the adjustment in the Y direction is only needed, then the two groups of lifting mechanisms 2 can be arranged in the direction parallel to the width of the vehicle, namely the X direction, and the adjustment in the Y direction is realized when the vehicle moves in an unsynchronized manner, therefore, the following specific embodiments are used for adjusting the leveling process of the slope in the uneven Y direction, as shown in fig. 4, and the following specific steps are included:
s1, a controller continuously judges whether the inclination angle detected in the X direction exceeds an angle threshold value;
S2, if the angle threshold value is not exceeded, the controller continuously judges whether the inclination angle detected in the Y direction exceeds the lower limit of the threshold value,
And S3, if the inclination angle detected in the Y direction is not more than the lower threshold, the controller continuously judges whether the inclination angle detected in the Y direction is in a threshold interval of the upper threshold and the lower threshold, if the inclination angle detected in the Y direction is in the threshold interval, the controller sends a control command to control the lifting mechanism 2 to perform lifting movement in the direction perpendicular to the plane where the platform body 1 is positioned to perform leveling, and the leveling in the Y direction is completed until the inclination angle detected in the Y direction is less than the lower threshold, wherein the leveling is in an error allowable range and is not completely leveled to an included angle of 0 DEG with the horizontal plane.
Specifically, since the types of the tilt angle detection sensors 3 used are not uniform, and thus the leveling accuracy is also different, the upper and lower thresholds set are also different, and only the leveling process for the Y direction is described in this embodiment, then for the X direction, as long as the angle threshold is set within the error range in which the multi-rotor unmanned aerial vehicle 9 can automatically adjust, in addition, the specific adjustable angle range is related to the setting of the lifting mechanism 2, the longer the stroke of the lifting mechanism 2, the wider the adjustable angle range, for example, the tilt angle detection sensor 3 employed in this embodiment detects the tilt angle of the platform body 1 in both directions X, Y in real time and transmits data to the controller at a transmission frequency of 50Hz, and the detection accuracy of the sensor employed in this embodiment is 0.1 °. In addition, in one specific implementation manner of the embodiment, since the adjustment is only performed in the Y direction, when the inclination angle in the X direction exceeds the angle threshold value and cannot realize leveling or exceeds the threshold value upper limit, when the lifting stroke of the scissor type lifting mechanism is insufficient, the controller is required to send prompt information to the vehicle-mounted unmanned aerial vehicle 9 system on the carrier vehicle to prompt the staff to take off or land alternatively, the feedback can help the staff to select the parking lot better, and the automation degree is high, and the specific process of the implementation manner is that:
when the inclination angle in the X direction exceeds +/-5 degrees, the controller sends prompt information to the vehicle-mounted unmanned aerial vehicle 9 system to prompt an operator that the unmanned aerial vehicle 9 cannot take off or land in the state and a place needs to be replaced;
When the inclination angle in the X direction is smaller than +/-5 degrees, the Y direction can be leveled, whether the inclination in the Y direction is larger than +/-12 degrees is continuously judged, if so, the controller sends prompt information to the vehicle-mounted unmanned aerial vehicle 9 system to prompt operators that the unmanned aerial vehicle 9 cannot take off or land in the state, and the steep slope angle is overlarge;
if the inclination angle detection sensor 3 detects that the inclination angle of the platform body 1 in the X direction is smaller than +/-5 degrees and the inclination angle in the Y direction is smaller than +/-3 degrees, the controller sends prompt information to the vehicle-mounted unmanned aerial vehicle 9 system to prompt an operator that the unmanned aerial vehicle 9 can take off or land in the state without leveling;
If the inclination angle detection sensor 3 detects that the inclination angle of the platform body 1 in the X direction is smaller than +/-5 degrees and the inclination angle in the Y direction is between +/-3 degrees and +/-12 degrees, the controller sends prompt information to the vehicle-mounted unmanned aerial vehicle 9 system to prompt an operator that the unmanned aerial vehicle 9 cannot take off or land in the state; meanwhile, the controller sends a leveling control instruction to the driving mechanism 4, the driving mechanism 4 drives one of the scissor type lifting mechanisms to lift, after the lifting action is finished, the leveling is finished until the inclination angle detection sensor 3 detects that the inclination angle of the platform body 1 in the X direction is smaller than +/-5 degrees and the inclination angle in the Y direction is smaller than +/-3 degrees, and at the moment, the controller sends prompt information to the vehicle-mounted unmanned aerial vehicle 9 system to prompt an operator that the unmanned aerial vehicle 9 can take off or land in the state.
Example 3
As shown in fig. 5, fig. 6, and fig. 7, this embodiment provides a vehicle-mounted unmanned aerial vehicle lifting leveling lifting platform, including the vehicle-mounted unmanned aerial vehicle lifting leveling lifting platform of embodiment 1, and further including two front and rear flat pushing mechanisms 5, two left and right flat pushing mechanisms 6 and at least three speed reduction driving devices 7 that are all installed above the platform body 1 in an axisymmetric manner, the two front and rear flat pushing mechanisms 5 after installation, the left and right flat pushing mechanisms 6 form a square area for the unmanned aerial vehicle 9 to take off and land, each speed reduction driving device 7 is used for driving the two left and right flat pushing mechanisms 6 and/or the two left and right flat pushing mechanisms 6 to move towards each other or move reversely towards the center of the square area formed, preferably, in this embodiment, each speed reduction driving device 7 includes a speed reducer 71 and a servo motor 72 that are electrically connected, the speed reducer 71 adopts a form of inputting two outputs, wherein the two front and rear flat pushing mechanisms 5 respectively adopt one speed reduction driving device 7, and the two left and right flat pushing mechanisms 6 adopt a speed reduction driving device 7 to take off from the left and right flat pushing mechanism 7 to the middle of the square area 1500mm, and the two flat pushing mechanisms 6mm are used for the current flat pushing platform of the size of the square area when the two flat pushing mechanisms are taken off and the left and the square area of the unmanned aerial vehicle is taken down, and the left and the square area is 1500mm.
Specifically, as shown in fig. 5, each front-rear flat pushing mechanism 5 includes a front pushing plate 51, a rear pushing plate 51, a transmission shaft 52, two guide shafts 53 symmetrically disposed at two ends of the transmission shaft 52, two guide shaft supports 54 symmetrically disposed at two ends of the front pushing plate 51, a speed reducer 71 is fixed at one end of the front pushing plate 51, a coupling 55 is disposed on the transmission shaft 52, the two guide shaft supports 54 are mounted on the platform body 1, the guide shafts 53 are mounted on the guide shaft supports 54, the front pushing plate 51 and the rear pushing plate 51 are mounted on the guide shafts 53, a gear 57 and racks 56 meshed with the gear 57 are disposed at two ends of the transmission shaft 52, the two racks 56 are parallel to the guide shafts 53 and mounted on the lifting platform, the gear 57 provided with one end of the speed reducer 71 at the transmission shaft 52 is mounted on the speed reducer 71, and for each front-rear flat pushing mechanism 5, two output shafts of the speed reducer 71 are respectively connected with the transmission shaft 52 and the guide shafts 53, and the two racks 56 are driven to move synchronously to push the front pushing plate 51 and move synchronously or reversely.
As shown in fig. 5 and 6, each left and right flat pushing mechanism 6 includes a screw 61, a slider 62, a guide rail support 64, a guide rail 63, a left and right push plate 65, a fixing plate 66, and a guide rail support 64 mounted on one side of the platform body 1 where the lifting mechanism 2 is mounted, for fixing the screw 61 and the guide rail 63, the screw 61 and the guide rail 63 are mounted on the guide rail support 64 and form a linear motion mechanism with the slider 62, the screws 61 of the two left and right flat pushing mechanisms 6 are respectively a left-handed screw 61 and a right-handed screw 61, in order not to affect the landing of the unmanned aerial vehicle 9, a speed reduction driving device 7 corresponding to the left and right flat pushing mechanisms 6 is mounted on the back of the bearing surface, a servo motor 72 drives a speed reducer 71 to move to convert each linear motion mechanism into a horizontal motion of the slider 62 on the screw and the guide rail 63, and two output shafts of the speed reducer 71 are respectively connected with the two linear motion mechanisms 61 of the two left and right flat pushing mechanisms 6, and the two linear motion mechanisms are simultaneously driven to move in opposite directions or in a synchronous manner by using one speed reducer 71. When unmanned aerial vehicle descends, unmanned aerial vehicle's fixed knot constructs as shown in fig. 7, control push pedal 65 and install on slider 62, and fixed plate 66 is on control push pedal 65 through round pin screw 68 on one face, and the other face is the wedge face, and fixed plate 66 is fixed through wedge face unmanned aerial vehicle undercarriage horizontal pole 91, and fixed plate 66 and control push pedal 65 all stretch out the bearing surface of platform main part, still install spring 67 between fixed plate 66 and the control push pedal 65 and be used for reducing the impact in the motion process.
The bearing surface of the platform body 1 is provided with two front and rear flat pushing mechanisms 5 and two left and right flat pushing mechanisms 6, the front and rear flat pushing mechanisms 5 can automatically push the unmanned aerial vehicle 9 to the center of the platform body 1 and fix the unmanned aerial vehicle after landing, the front and rear flat pushing mechanisms 5 are supported by a guide shaft support 54, a guide shaft 53 is used for guiding, a servo motor, a speed reducer 71 and a gear 57 rack 56 are used as power, one gear 57 is directly arranged on the speed reducer 71, the other gear 57 is connected with the speed reducer 71 after being driven by a shaft, a coupler 55 and the like, the racks 56 of the two gears 57 synchronously move to make the front and rear flat pushing balanced and stable, the speed reduction driving mechanism 4 of the two left and right flat pushing mechanisms 6 is arranged below the platform, the left and right pushing plates 65 and the fixing plate 66 on the bearing surface of the platform body 1 are driven by a servo motor, a speed reducer 71, a screw 61, a sliding block 62 and the like to move, the unmanned aerial vehicle 9 is pushed to the center of the left and right direction of the platform, the fixing plate 66 fixes the cross rod of the landing gear of the unmanned aerial vehicle 9 on the platform through a wedge mechanism, and a spring 67 is arranged between the fixing plate 66 and the left and right pushing plates 65 for reducing the impact in the moving process, wherein the left and right direction and the front and back direction are opposite concepts, the description of the text is convenient, and the direction is limited.
The workflow of the present embodiment:
When the unmanned aerial vehicle 9 takes off, the scissor type lifting mechanism ascends to lift the unmanned aerial vehicle 9 out of the shelter, the controller receives the inclination angle information of the platform monitored by the inclination angle detection sensor 3 in real time, the controller sends a control instruction to the driving mechanism 4 after processing the inclination angle information, the electric cylinder 41 slides on the translation sliding plate 42 under the driving of the servo motor, so that the scissor type lifting mechanism is pushed to move to realize leveling, after the leveling, the two left and right flat pushing mechanisms 6 move outwards to unlock the unmanned aerial vehicle 9, and meanwhile, the two front and rear flat pushing mechanisms 5 also move outwards to prepare to finish the preparation of taking off of the unmanned aerial vehicle 9.
The controller receives the inclination angle information of the platform monitored in real time by the inclination angle detection sensor 3 in real time, sends a control instruction to the driving mechanism 4 according to the inclination angle information, the electric cylinder 41 slides in the translational sliding plate 42 along the vehicle running direction under the driving of the servo motor, so that the scissor type lifting mechanism is pushed to move to the level of the platform body 1, after the platform body 1 is leveled, the two front-back pushing mechanisms 5 move simultaneously to push the unmanned aerial vehicle 9 to the front-back central line of the platform, then the two left-right pushing mechanisms 6 move simultaneously to push the unmanned aerial vehicle 9 to the center of the platform and fix the unmanned aerial vehicle through the wedge surface of the fixing plate 66, and finally the two scissor type lifting mechanisms descend simultaneously to recycle the unmanned aerial vehicle 9 to the shelter.
The foregoing description of the preferred embodiments of the present invention will be considered in detail, with the understanding that the present invention is to be considered as an exemplification of the principles of the invention, and is not intended to limit the scope of the invention to the specific embodiments illustrated, but is intended to cover any and all modifications, equivalents, alternatives, and modifications as fall within the spirit and principles of the invention.
Claims (7)
1. The utility model provides a vehicle-mounted unmanned aerial vehicle lift leveling take-off and landing platform which characterized in that includes: the lifting platform comprises a platform body (1) and two groups of lifting mechanisms (2);
The lifting mechanism (2) is respectively arranged at two ends of the platform body (1) perpendicular to the running direction of a vehicle, the telescopic end of the lifting mechanism (2) is connected with the platform body (1), a rotary hinge support (11) is arranged on the platform body, a fixed hinge support (21) is arranged at the telescopic end of the lifting mechanism (2), the rotary hinge support (11) and the fixed hinge support (21) form a rotary pair, and the telescopic end of the lifting mechanism (2) is hinged with the platform body (1) through the fixed hinge support (21);
The other side of the platform body (1) is provided with two front-back flat pushing mechanisms (5) and two left-right flat pushing mechanisms (6), the two front-back flat pushing mechanisms (5) and the two left-right flat pushing mechanisms (6) are respectively enclosed in pairs to form a square area for taking off and landing of the unmanned aerial vehicle (9), and the front-back flat pushing mechanisms (5) and the left-right flat pushing mechanisms (6) can synchronously move towards each other or reversely move towards the center of the square area;
Each left-right flat pushing mechanism (6) comprises a screw rod (61), a sliding block (62), a guide rail supporting seat (64), a guide rail (63), left-right pushing plates (65) and a fixed plate (66), wherein the guide rail supporting seat (64) is arranged on one side of the platform body (1) where the lifting mechanism (2) is arranged, and the screw rod (61) and the guide rail (63) are arranged on the guide rail supporting seat (64) to form a linear motion mechanism with the sliding block (62);
The left push plate (65) and the right push plate (62) are arranged on the sliding block (62), one surface of the fixing plate (66) is connected with the left push plate (65) and the other surface of the fixing plate (66) is a wedge surface, a spring (67) is further arranged between the fixing plate (66) and the left push plate and the right push plate (65), the spring (67) provides elasticity for the wedge surface, the fixing plate (66) is used for fixing the unmanned aerial vehicle through the wedge surface, and the fixing plate (66) and the left push plate (65) extend out of the bearing surface of the platform body (1);
The lifting mechanism (2) is a scissor type lifting mechanism, a telescopic end of the scissor type lifting mechanism connected with the platform main body is divided into a fixed end (22) and a movable end (23), the fixed end (22) of the scissor type lifting mechanism is hinged with the platform main body, the platform main body is provided with a leveling sliding plate (12), and the movable end (23) of the scissor type lifting mechanism is connected with a leveling sliding block (13) arranged in a sliding groove of the leveling sliding plate (12);
the inclination angle detection device comprises an inclination angle detection sensor (3) and a controller in signal connection with the inclination angle detection sensor (3), wherein the inclination angle detection sensor (3) is used for detecting the inclination angle of the bearing surface of the platform body (1); the driving mechanism (4) is used for respectively controlling the two groups of lifting mechanisms (2) to act, and the driving mechanism (4) is in signal connection with the controller;
The driving mechanism (4) comprises an electric cylinder (41), a servo motor and a translational sliding plate (42) which are arranged on the electric cylinder (41), the translational sliding plate (42) is arranged at an extending opening of the electric cylinder (41), the other end of the scissor type lifting mechanism relative to the telescopic end is connected with a translational sliding block (62) arranged in a sliding groove of the translational sliding plate (42), and the electric cylinder (41) is driven by the servo motor to extend forwards to push the scissor type lifting mechanism to do lifting movement.
2. The lifting and leveling take-off and landing platform of the vehicle-mounted unmanned aerial vehicle according to claim 1, wherein the lifting and leveling take-off and landing platform at least comprises an inclination angle detection sensor (3), the platform body (1) is of a square structure, and the bearing surface for the vehicle-mounted unmanned aerial vehicle (9) is a smooth surface made of an anti-rust material.
3. The vehicle-mounted unmanned aerial vehicle lifting and leveling take-off and landing platform according to claim 1, wherein the inclination angle detection sensor (3) is arranged in parallel with the platform body (1).
4. The lifting and leveling take-off and landing method for the vehicle-mounted unmanned aerial vehicle is characterized by being applied to the lifting and leveling take-off and landing platform of the vehicle-mounted unmanned aerial vehicle according to any one of claims 1-3, and comprises the following specific processes:
The controller receives the inclination angle of the bearing surface of the platform body (1) detected by the inclination angle detection sensor in real time;
the controller judges according to the detected inclination angle, generates a control instruction according to the judging result,
The controller sends a control instruction to the driving mechanism; the driving mechanism is controlled to drive the two groups of lifting mechanisms (2) to do lifting motion in the direction vertical to the plane where the platform body (1) is positioned;
When the platform body (1) is leveled, the front and rear flat pushing mechanisms (5) move simultaneously to push the unmanned aerial vehicle (9) to the front and rear central lines of the platform, and then the left and right flat pushing mechanisms (6) move simultaneously to push the unmanned aerial vehicle (9) to the center of the platform and fix the unmanned aerial vehicle through the wedge-shaped surface of the fixing plate (66).
5. The lifting and leveling take-off and landing method of the vehicle-mounted unmanned aerial vehicle according to claim 4, wherein the inclination angle detection sensor is arranged in parallel with the platform body, and is used for detecting inclination angles of the platform body in an X direction and a Y direction, wherein the X direction is a direction in which a vehicle width is located, and the Y direction is a direction parallel to a vehicle running direction.
6. The lifting and leveling take-off and landing method of the vehicle-mounted unmanned aerial vehicle according to claim 5, wherein the controller continuously judges whether the inclination angle detected in the X direction exceeds an angle threshold value;
If the angle threshold is not exceeded, the controller continuously judges whether the inclination angle detected in the Y direction exceeds the lower limit of the threshold;
If the inclination angle detected in the Y direction is within a threshold interval between the upper threshold limit and the lower threshold limit, the controller sends a control instruction to control the lifting mechanism to perform lifting movement in a direction perpendicular to the plane of the platform body to perform leveling, and the leveling in the Y direction is completed until the inclination angle detected in the Y direction is smaller than the lower threshold limit.
7. A vehicle-mounted unmanned aerial vehicle lifting and leveling take-off and landing device, which is characterized by comprising the vehicle-mounted unmanned aerial vehicle lifting and leveling take-off and landing platform as claimed in any one of claims 1-3, and further comprising at least three deceleration driving devices (7), wherein each deceleration driving device (7) is used for driving two front-back flat pushing mechanisms (5) and/or two left-right flat pushing mechanisms (6) to synchronously move towards each other or move reversely towards the center of a formed square area.
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| CN114368335B (en) * | 2022-02-24 | 2023-04-18 | 浙江华云清洁能源有限公司 | Unmanned aerial vehicle deviation correcting device and locomotive that has this unmanned aerial vehicle deviation correcting device |
| CN114572094B (en) * | 2022-03-29 | 2023-04-07 | 吉林大学 | Vehicle-mounted unmanned aerial vehicle platform suitable for off-road vehicle |
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| CN115139889A (en) * | 2022-08-05 | 2022-10-04 | 国网湖南省电力有限公司 | Vehicle-mounted unmanned aerial vehicle lifting device and application method thereof |
| CN115321421B (en) * | 2022-10-14 | 2023-12-05 | 南通鸿源达智能化工程有限公司 | Automatic leveling lifting platform |
| CN116573155A (en) * | 2023-06-29 | 2023-08-11 | 北京卫星环境工程研究所 | Unmanned aerial vehicle transfers appearance device |
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