CN114093203B - Intelligent scheduling system and device based on unmanned aerial vehicle hangar - Google Patents
Intelligent scheduling system and device based on unmanned aerial vehicle hangar Download PDFInfo
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- CN114093203B CN114093203B CN202111606387.1A CN202111606387A CN114093203B CN 114093203 B CN114093203 B CN 114093203B CN 202111606387 A CN202111606387 A CN 202111606387A CN 114093203 B CN114093203 B CN 114093203B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/44—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages for storing aircraft
Abstract
The invention relates to the field of unmanned aerial vehicles, and particularly provides an intelligent scheduling system and device based on an unmanned aerial vehicle hangar, which comprises the hangar, wherein the hangar comprises a hangar shell, a shutdown port is formed in the top of the hangar shell, a shutdown scheduling device and a plurality of shutdown platforms are arranged in the hangar shell, the shutdown scheduling device is used for driving the shutdown platforms to move, so that each shutdown platform is stopped at the shutdown port for receiving the unmanned aerial vehicle intermittently. And transport unmanned aerial vehicle to hangar shell inside, its inside staff can maintain and the operation of charging unmanned aerial vehicle, and the department is in idle state all the time to next shut down the platform motion to shutting down the mouth department simultaneously. Therefore, the parking space can be saved to the maximum extent, and the unmanned aerial vehicle can be guaranteed to have a parking position all the time.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an intelligent scheduling system and device based on an unmanned aerial vehicle hangar.
Background
The unmanned aerial vehicle has been widely applied to the fields of energy, chemical industry, forestry, environmental protection, security protection and the like due to the characteristics of simple operation, rapid response, rich load, wide task application, low requirements on environment for taking off and landing, autonomous flight and the like, so that the change of the traditional operation mode is promoted, and the operation efficiency is improved. But because unmanned aerial vehicle uses in batches, must stop unmanned aerial vehicle with the mode of hangar, guarantee unmanned aerial vehicle continuation of the journey and maintain, but stop unmanned aerial vehicle in batches in-process, not only occupied very big area to easily cause confusion and conflict in taking off and descending and task allocation process. In view of this, an intelligent dispatching system and device based on the unmanned aerial vehicle hangar are provided.
Disclosure of Invention
The invention mainly aims to provide an intelligent scheduling system and device based on an unmanned aerial vehicle hangar to solve the problems in the related art.
In order to achieve the above object, according to one aspect of the present invention, an intelligent scheduling system based on an unmanned aerial vehicle hangar is provided, which includes a data reporting unit, a path planning unit, an electric quantity monitoring unit, a mission planning unit, a communication unit and a hangar control unit, wherein the data reporting unit is configured to report operation data of the unmanned aerial vehicle and the hangar to a base station, the mission planning unit is configured to issue an instruction to the unmanned aerial vehicle according to the operation data of the unmanned aerial vehicle and the hangar, the communication unit is configured to transmit the communication data to the unmanned aerial vehicle, the electric quantity monitoring unit is configured to monitor the electric quantity of the unmanned aerial vehicle, the path planning unit is configured to plan an optimal flight path for the unmanned aerial vehicle, and the hangar control unit is configured to issue an instruction to the hangar according to the operation data of the unmanned aerial vehicle.
Furthermore, the data reporting unit comprises an unmanned aerial vehicle state reporting module, a flyability reporting module and a hangar environment parameter reporting module, the mission planning unit comprises a take-off control module and a landing control module, the unmanned aerial vehicle state reporting module is used for uploading position information and fault information of the unmanned aerial vehicle to the base station, the flyability reporting module is used for uploading unmanned aerial vehicle endurance data to the base station according to the electric quantity monitored by the electric quantity monitoring unit, the hangar environment parameter reporting module is used for uploading stoppable data of the hangar to the base station, the take-off control module is used for scheduling the unmanned aerial vehicle according to the mission, and the landing control module is used for scheduling the unmanned aerial vehicle to land according to unmanned aerial vehicle operation data and unmanned aerial vehicle endurance data.
On the other hand provides an intelligent scheduling device based on unmanned aerial vehicle hangar, include above-mentioned any hangar, the hangar includes the hangar shell, the hangar shell top is opened there is the mouth of shutting down, be equipped with in the hangar shell and shut down scheduling device and a plurality of shut down platform, shut down scheduling device is used for driving a plurality of shut down platform motions, makes each shut down platform intermittent type stop shut down mouthful quick-witted.
Furthermore, shut down scheduling device including following driving wheel and action wheel, pass through the strap from the driving wheel and be connected the transmission with the action wheel garage shell internally mounted has a driving motor, a driving motor's output shaft with action wheel coaxial coupling moves the action wheel and rotates, coaxial coupling has the driven shaft from the driving wheel, the driven shaft pass through the bearing with the garage shell rotates and is connected, the even equidistant a plurality of connecting rods that are fixed with in surface of strap.
Further, the shutdown platform comprises a main platform and an auxiliary platform arranged above the main platform, the auxiliary platform is used for parking the unmanned aerial vehicle, and the auxiliary platform is connected with the main platform in a sliding mode, so that the auxiliary platform can extend out of the main platform.
Further, enclose through the flange around vice platform, the upper surface of vice platform is equipped with the cylinder that two symmetries set up, the tailpiece of the piston rod portion of cylinder is connected with the grip block, in order to promote grip block centre gripping unmanned aerial vehicle, the side of grip block is equipped with anti-skidding line.
Furthermore, a rack is arranged at the top of the main platform, two gears are arranged at the positions, close to the two ends, of the bottom of the rack, the gears are meshed with the rack, the top surface of the rack is fixedly connected with the auxiliary platform, and the gears are used for driving the rack to move horizontally so as to drive the auxiliary platform to move.
Furthermore, the end surfaces of the two gears are coaxially connected with belt wheels, the two belt wheels are connected and driven through a belt, a second driving motor is installed in the main platform, and an output shaft of the second driving motor is coaxially connected with one of the belt wheels to drive the belt wheels to rotate.
Further, the bottom symmetry of main platform is fixed with two clamp rings, two equal joint has the counter weight jar on the clamp ring, the counter weight liquid is equipped with in the counter weight jar, main platform bottom surface center department installs the liquid pump, the both ends of liquid pump are equipped with two liquid mouths respectively, and two liquid mouths communicate with two counter weight jars through first pipeline and second pipeline respectively.
Furthermore, a hole site matched with the connecting rod is formed in the center of the main platform and is rotatably connected with the connecting rod, an inclination angle sensor is arranged at the joint of the hole site and the connecting rod and is electrically connected with the liquid pump through a processor, the inclination angle sensor is used for monitoring whether the angle of the main platform is horizontal, and when the angle of the main platform is not horizontal, the liquid pump is controlled to adjust the quantity of the counterweight liquid in the two counterweight tanks, so that the angle of the main platform returns to the horizontal state.
Furthermore, the front end opening of the hangar shell is used for enabling the unmanned aerial vehicle to run out, a garage door hinged with the hangar shell is arranged at the opening, and a handle is installed on the garage door.
Compared with the prior art, the invention has the following beneficial effects:
1. the unmanned aerial vehicle and the hangar report the data through the data reporting unit, so that the unmanned aerial vehicle can select the nearest hangar to stop after a task is completed, the path planning unit plans the optimal path from the starting point of the unmanned aerial vehicle taking off from the hangar to the task site, the electric quantity of the unmanned aerial vehicle can be effectively saved, and the dangerous terrain can be avoided. The communication unit is used for the basic station to carry out voice broadcast and propaganda through unmanned aerial vehicle, can utilize unmanned aerial vehicle to realize tasks such as propaganda, urgent notice. The mission planning unit can automatically select an airplane capable of executing the mission nearby according to the flight destination through the base station according to the mission location (the airplane can fly recently, and the residual capacity meets the requirement of automatically calculated flight time of the air route). The hangar control unit can stop the number of positions of the unmanned aerial vehicles through the base station computer library at present, and when the unmanned aerial vehicles are ready to stop in the hangar changing process, the hangar is timely made to be ready to stop.
2. The invention drives a plurality of stopping platforms to move through the stopping dispatching device, so that each stopping platform intermittently stops at the stopping port, and an unmanned aerial vehicle flying from the outside stops at the stopping platform at the stopping port. And transport unmanned aerial vehicle to the hangar shell inside, its inside staff can maintain and the operation of charging unmanned aerial vehicle, and simultaneously, next shut down platform moves to shut down mouth department, guarantees that shut down mouth department is in idle state all the time in order to meet next unmanned aerial vehicle's berth. Therefore, the parking space can be saved to the maximum extent, and the unmanned aerial vehicle can be guaranteed to have a parking position all the time until the hangar is full of stations.
3. The invention extends out of the main platform through the auxiliary platform. The design structure can ensure that the unmanned aerial vehicle on any one of the shutdown platforms in the hangar can take off and execute tasks at any time when the unmanned aerial vehicle is in a full endurance and fault-free state. And the auxiliary platform stretches out to the main platform outside when taking off, and unmanned aerial vehicle can not receive the influence of the platform that stops of top when taking off this moment, can take off smoothly. Unmanned aerial vehicle takes off from the front end opening and drives out for take off and land and go on from different positions respectively, can not conflict each other.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
The structure, proportion, size and the like shown in the drawings are only used for matching with the content disclosed in the specification, so that the person skilled in the art can understand and read the description, and the description is not used for limiting the limit condition of the implementation of the invention, so the method has no technical essence, and any structural modification, proportion relation change or size adjustment still falls within the scope of the technical content disclosed by the invention without affecting the effect and the achievable purpose of the invention.
FIG. 1 is a block diagram of an overall system of the present invention;
FIG. 2 is a block diagram of a data reporting unit according to the present invention;
FIG. 3 is a block diagram of a mission planning unit according to the present invention;
FIG. 4 is a schematic view of an overall device according to the present invention;
FIG. 5 is a second schematic view of the overall device of the present invention;
FIG. 6 is a partial schematic view of the present invention;
FIG. 7 is a schematic structural diagram of a stop scheduling device according to the present invention;
FIG. 8 is a schematic view of one embodiment of the present invention;
FIG. 9 is a second schematic structural view of the parking platform of the present invention;
FIG. 10 is an exploded view of the structure of the shutdown platform of the present invention;
FIG. 11 is a schematic view showing the connection of a part of the structure of the present invention.
Illustration of the drawings: 1. a data reporting unit; 11. an unmanned aerial vehicle state reporting module; 12. a flyability reporting module; 13. a hangar environment parameter reporting module; 2. a path planning unit; 3. an electric quantity monitoring unit; 4. a task planning unit; 41. a takeoff control module; 42. a landing control module; 5. a communication unit; 6. a hangar control unit; 7. a hangar housing; 71. a shutdown port; 8. a storage door; 81. a handle; 9. a shutdown scheduling device; 91. a driven wheel; 92. a metal strip; 921. a connecting rod; 93. a driving wheel; 94. a first drive motor; 95. a driven shaft; 96. a bearing; 10. a shutdown platform; 101. a main platform; 102. a secondary platform; 103. blocking edges; 104. a cylinder; 105. a clamping block; 106. anti-skid lines; 107. a clamping ring; 108. a counterweight tank; 109. a first conduit; 110. a liquid pump; 111. a second conduit; 112. a rack; 113. a gear; 114. a pulley; 115. a belt; 116. a second drive motor.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. It should be noted that when one component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
The utility model provides an intelligent scheduling system based on unmanned aerial vehicle hangar, as shown in fig. 1-3, including data report unit 1, path planning unit 2, electric quantity monitoring unit 3, mission planning unit 4, communication unit 5 and hangar control unit 6, data report unit 1 is used for reporting the operational data of unmanned aerial vehicle and hangar to the basic station, mission planning unit 4 is used for assigning the instruction to unmanned aerial vehicle according to the operational data of unmanned aerial vehicle and hangar, communication unit 5 is used for transmitting communication data to unmanned aerial vehicle, electric quantity monitoring unit 3 is used for monitoring the unmanned aerial vehicle electric quantity, path planning unit 2 is used for planning the best flight path for unmanned aerial vehicle, hangar control unit 6 is used for assigning the instruction to the hangar according to unmanned aerial vehicle operational data. The data reporting unit 1 comprises an unmanned aerial vehicle state reporting module 11, a flyability reporting module 12, a hangar environment parameter reporting module 13, the mission planning unit 4 comprises a takeoff control module 41 and a landing control module 42, the unmanned aerial vehicle state reporting module 11 is used for uploading position information and fault information of the unmanned aerial vehicle to a base station, the flyability reporting module 12 is used for uploading unmanned aerial vehicle endurance data to the base station according to electric quantity monitored by the electric quantity monitoring unit 3, the hangar environment parameter reporting module 13 is used for uploading stoppable data of the hangar to the base station, the takeoff control module 41 is used for scheduling the unmanned aerial vehicle according to a mission, and the landing control module 42 is used for scheduling the unmanned aerial vehicle to land according to unmanned aerial vehicle operation data and unmanned aerial vehicle endurance data.
The unmanned aerial vehicle and the hangars report the data through the data reporting unit 1, the purpose is to enable the unmanned aerial vehicle to select the nearest hangar to stop after the task is completed, the path planning unit 2 realizes planning the optimal path from the starting point of the unmanned aerial vehicle taking off from the hangar to the task place, the electric quantity of the unmanned aerial vehicle can be effectively saved, and the dangerous terrain is avoided. Communication unit 5 is used for the basic station to carry out voice broadcast and propaganda through unmanned aerial vehicle, can utilize unmanned aerial vehicle to realize tasks such as propaganda, urgent notice. The mission planning unit 4 can automatically select an airplane capable of executing a mission nearby according to a flight destination (the airplane can fly recently, and the remaining capacity meets the requirement of automatically calculated flight time of a flight route) through the base station according to a mission location. The hangar control unit 6 can stop the number of positions of the unmanned aerial vehicle through the base station computer library at present, and when the unmanned aerial vehicle is ready to stop in the hangar, the hangar is ready to stop the stop platform 10.
An intelligent scheduling device based on an unmanned aerial vehicle hangar; as shown in fig. 4-11, the hangar comprises a hangar housing 71, the top of the hangar housing 71 is provided with a shutdown port 71, a shutdown scheduling device 9 and a plurality of shutdown platforms 10 are arranged in the hangar housing 71, and the shutdown scheduling device 9 is used for driving the shutdown platforms 10 to move, so that each shutdown platform 10 is intermittently stopped at the shutdown port 71 for machine connection. The shutdown scheduling device 9 comprises a driven wheel 91 and a driving wheel 93, the driven wheel 91 is connected with the driving wheel 93 through a metal belt 92 for transmission, a first driving motor 94 is arranged inside the garage shell 71, an output shaft of the first driving motor 94 is coaxially connected with the driving wheel 93 to drive the driving wheel 93 to rotate, a driven shaft 95 is coaxially connected onto the driven wheel 91, the driven shaft 95 is rotatably connected with the garage shell 7 through a bearing 96, and a plurality of connecting rods 921 are uniformly and equidistantly fixed on the surface of the metal belt 92. The stopping platform 10 comprises a main platform 101 and an auxiliary platform 102 located above the main platform 101, wherein a hole site matched with the connecting rod 921 is formed in the center of the main platform 101, and the hole site is rotatably connected with the connecting rod 921. In this embodiment, the first driving motor 94 drives the driving wheel 93 to rotate, so as to drive the driven wheel 91 to rotate through the metal belt 92, during the movement of the metal belt 92, each stopping platform 10 on the connecting rod 921 moves along with the metal belt to move to the uppermost central position, and when the stopping platform 10 is located at the stopping opening 71, the unmanned aerial vehicle flying from the outside stops on the stopping platform 10 at the position from the stopping opening 71. The back strap 92 continues to move after stopping, transports unmanned aerial vehicle to the hangar shell 71 inside, and its inside staff can maintain and the operation of charging unmanned aerial vehicle, and simultaneously, next shut down platform 10 and move to shut down mouthful 71 department, guarantee to shut down mouthful 71 department and be in idle state all the time in order to meet next unmanned aerial vehicle's berth. Therefore, the parking space can be saved to the maximum extent, and the unmanned aerial vehicle can be guaranteed to have a parking position all the time until the hangar is full of stations.
Further, due to the above structural design, the unmanned aerial vehicle parking platforms 10 inside the cabin are in a state of being arranged relatively tightly up and down, and at this time, if the unmanned aerial vehicle needs to take off, the metal belt 92 needs to be rotated again to enable the unmanned aerial vehicle to take off safely only when the unmanned aerial vehicle arrives at the position of the parking port 71, and the inventor considers that the take-off mode has two defects, namely, landing and take-off are located at the same position, which makes it difficult to ensure the conflict between the take-off and landing processes under special conditions, and secondly, which makes it difficult to ensure the ordered parking of each unmanned aerial vehicle, and the number of times of rotating the metal belt 92 is more frequent, which is not beneficial to energy saving, based on this, in order to ensure that the unmanned aerial vehicle can take off smoothly on any one parking platform 10, and is not affected by the parking platform 10 above, the present embodiment adopts the following arrangement, wherein the auxiliary platform 102 is used for parking the unmanned aerial vehicle, and the auxiliary platform 102 is connected with the main platform 101 in a sliding manner, so that the sub-platform 102 can extend outside the main platform 101. The design structure can ensure that the unmanned aerial vehicle on any one of the shutdown platforms 10 in the hangar can take off and execute tasks at any time when the unmanned aerial vehicle is in a full endurance and fault-free state. And the auxiliary platform 102 extends out of the main platform 101 during takeoff, so that the unmanned aerial vehicle cannot be influenced by the parking platform 10 above the unmanned aerial vehicle during takeoff, and can take off smoothly. Secondly, the front end opening of hangar shell 71 is used for unmanned aerial vehicle to roll off, and the opening part is equipped with storehouse door 8 with hangar shell 71 articulated, installs handle 81 on the storehouse door 8. Unmanned aerial vehicle can take off from the front end opening and roll off under 8 open modes in storehouse for take off and land and go on from different positions respectively, can not conflict each other. Simultaneously, the garage door 8 is opened to facilitate the entering of the working personnel into the hangar, and the unmanned aerial vehicle is overhauled, charged and the like.
Specifically, the metal belt 92 in this embodiment is made of an aluminum alloy material, which has not only a certain toughness and can be bent, but also a certain rigidity, and can support each parking platform 10.
Further, enclosing through flange 103 around vice platform 102, the upper surface of vice platform 102 is equipped with the cylinder 104 that two symmetries set up, the piston rod end connection of cylinder 104 has grip block 105 to promote grip block 105 centre gripping unmanned aerial vehicle, the side of grip block 105 is equipped with anti-skidding line 106, can make unmanned aerial vehicle fixed by grip block 105 centre gripping when berthing through above-mentioned design, even if the platform 10 that stops has slight slope, also can not lead to the unmanned aerial vehicle landing.
When the process that the auxiliary platform 102 can extend out of the main platform 101 is specifically realized, the design is adopted in the embodiment, the rack 112 is arranged at the top of the main platform 101, two gears 113 are arranged at the positions, close to two ends, of the bottom of the rack 112, the gears 113 are meshed with the rack 112, the top surface of the rack 112 is fixedly connected with the auxiliary platform 102, and the gears 113 are used for driving the rack 112 to move horizontally so as to drive the auxiliary platform 102 to move. The end surfaces of the two gears 113 are coaxially connected with belt wheels 114, the two belt wheels 114 are connected and driven through a belt 115, a second driving motor 116 is installed in the main platform 101, and an output shaft of the second driving motor 116 is coaxially connected with one of the belt wheels 114 to drive the belt wheels 114 to rotate. The second driving motor 116 can drive the pulleys 114 to rotate, and the two pulleys 114 rotate in the same direction and at the same rotation speed through the transmission of the belt 115, so that the two gears 113 rotate in the same direction and at the same rotation speed to drive the rack 112 to reciprocate left and right. Meanwhile, the two gears 113 at the two ends can ensure that the moving stroke of the rack 112 is maximized, and ensure that the secondary platform 102 can extend out of the main platform 101 to the maximum extent. It should be noted that the rack 112 is located in a groove at the top of the main platform 101, and the groove is in an outer edge form to hoop both sides of the upper edge of the rack 112, so that the rack 112 can only slide to both sides and will not tilt under the gravity caused by the extension of the sub platform 102.
Because the motion of strap 92 is circular motion when reaching upper and lower both ends, be rotatable coupling between main platform 101 and the connecting rod 921, guarantee that the platform 10 of shutting down is in the horizontality all the time, but because when vice platform 102 stretches out main platform 101, the gravity of its both sides is unequal, in order to guarantee the balance of the platform 10 of shutting down, the bottom symmetry of main platform 101 is fixed with two clamp rings 107, equal joint has counterweight tank 108 on two clamp rings 107, counterweight liquid is equipped with in the counterweight tank 108, main platform 101 bottom surface center department installs liquid pump 110, the both ends of liquid pump 110 are equipped with two liquid mouths respectively, two liquid mouths communicate with two counterweight tanks 108 through first pipeline 109 and second pipeline 111 respectively. Be equipped with inclination sensor at hole site and connecting rod 921 junction, inclination sensor passes through treater and liquid pump 110 electric connection, and inclination sensor is used for monitoring whether main platform 101 angle is horizontal, and when main platform 101 angle was not horizontal, control liquid pump 110 adjusted the quantity of counter weight liquid in two counter weight jars 108, made main platform 101 angle return horizontality. Therefore, the inclination angle of the shutdown platform 10 can be monitored through the inclination angle sensor, and the counterweight liquid in the two counterweight tanks 108 is conveyed back and forth through the liquid pump 110, so that the weight of the two counterweight tanks 108 is changed continuously, and the shutdown platform 10 is ensured to be in a horizontal state all the time.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The intelligent scheduling system based on the unmanned aerial vehicle hangar is characterized by comprising a data reporting unit (1), a path planning unit (2), an electric quantity monitoring unit (3), a task planning unit (4), a communication unit (5) and a hangar control unit (6), wherein the data reporting unit (1) is used for reporting operation data of the unmanned aerial vehicle and the hangar to a base station, the task planning unit (4) is used for issuing instructions to the unmanned aerial vehicle according to the operation data of the unmanned aerial vehicle and the hangar, the communication unit (5) is used for transmitting the communication data to the unmanned aerial vehicle, the electric quantity monitoring unit (3) is used for monitoring the electric quantity of the unmanned aerial vehicle, the path planning unit (2) is used for planning an optimal flight path for the unmanned aerial vehicle, and the hangar control unit (6) is used for issuing instructions to the hangar according to the operation data of the unmanned aerial vehicle;
the hangar comprises a hangar shell (7), the top of the hangar shell (7) is provided with a shutdown port (71), a shutdown scheduling device (9) and a plurality of shutdown platforms (10) are arranged in the hangar shell (7), and the shutdown scheduling device (9) is used for driving the shutdown platforms (10) to move so as to enable the shutdown platforms (10) to stop at the shutdown port (71) intermittently for receiving machines; the shutdown scheduling device (9) comprises a driven wheel (91) and a driving wheel (93), the driven wheel (91) and the driving wheel (93) are connected and driven through a metal belt (92), a first driving motor (94) is installed inside the hangar shell (7), an output shaft of the first driving motor (94) and the driving wheel (93) are coaxially connected with the driving wheel (93) in a driving mode to rotate, a driven shaft (95) is coaxially connected to the driven wheel (91), the driven shaft (95) is rotatably connected with the hangar shell (7) through a bearing (96), and a plurality of connecting rods (921) are uniformly fixed on the surface of the metal belt (92) at equal intervals;
the parking platform (10) comprises a main platform (101) and an auxiliary platform (102) positioned above the main platform (101), wherein the auxiliary platform (102) is used for parking the unmanned aerial vehicle, and the auxiliary platform (102) is connected with the main platform (101) in a sliding mode so that the auxiliary platform (102) can extend out of the main platform (101);
the periphery of the auxiliary platform (102) is enclosed by a rib (103), two symmetrically arranged air cylinders (104) are arranged on the upper surface of the auxiliary platform (102), a clamping block (105) is connected to the end of a piston rod of each air cylinder (104) to push the clamping block (105) to clamp the unmanned aerial vehicle, and anti-skid grains (106) are arranged on the side surface of the clamping block (105);
the top of the main platform (101) is provided with a rack (112), two gears (113) are arranged at the bottom of the rack (112) close to two ends, the gears (113) are meshed with the rack (112), the top surface of the rack (112) is fixedly connected with the auxiliary platform (102), and the gears (113) are used for driving the rack (112) to move horizontally so as to drive the auxiliary platform (102) to move;
the end faces of the two gears (113) are coaxially connected with belt wheels (114), the two belt wheels (114) are connected and driven through a belt (115), a second driving motor (116) is installed in the main platform (101), and an output shaft of the second driving motor (116) is coaxially connected with one of the belt wheels (114) to drive the belt wheels (114) to rotate.
2. The intelligent scheduling system based on the UAV hangar according to claim 1, wherein the data reporting unit (1) comprises an UAV state reporting module (11), a flyability reporting module (12) and a hangar environment parameter reporting module (13), the mission planning unit (4) comprises a takeoff control module (41) and a landing control module (42), the UAV state reporting module (11) is used for uploading position information and fault information of the UAV to a base station, the flyability reporting module (12) is used for uploading UAV endurance data to the base station according to the electric quantity monitored by the electric quantity monitoring unit (3), the hangar environment parameter reporting module (13) is used for uploading stoppable data of the hangar to the base station, the takeoff control module (41) is used for scheduling the UAV according to mission, and the UAV control module (42) is used for scheduling the UAV according to operation data and the UAV endurance data And (5) descending the machine.
3. The intelligent scheduling system based on the unmanned aerial vehicle hangar of claim 1, characterized in that two clamp rings (107) are symmetrically fixed to the bottom of the main platform (101), a counterweight tank (108) is clamped on each of the two clamp rings (107), counterweight liquid is filled in the counterweight tank (108), a liquid pump (110) is installed at the center of the bottom surface of the main platform (101), two liquid ports are respectively arranged at two ends of the liquid pump (110), and the two liquid ports are respectively communicated with the two counterweight tanks (108) through a first pipeline (109) and a second pipeline (111).
4. The intelligent scheduling system based on unmanned aerial vehicle hangar of claim 1, characterized in that the central position of the main platform (101) is provided with a hole site adapted to the connecting rod (921), the hole site is rotatably connected to the connecting rod (921), a tilt sensor is arranged at the connection between the hole site and the connecting rod (921), the tilt sensor is electrically connected to the liquid pump (110) through a processor, the tilt sensor is used for monitoring whether the angle of the main platform (101) is horizontal, and when the angle of the main platform (101) is not horizontal, the liquid pump (110) is controlled to adjust the amount of the counterweight liquid in the two counterweight tanks (108) so that the angle of the main platform (101) returns to the horizontal state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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