CN114475946A - Water surface retraction charging platform device and charging method for resident unmanned system - Google Patents

Water surface retraction charging platform device and charging method for resident unmanned system Download PDF

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Publication number
CN114475946A
CN114475946A CN202210187523.6A CN202210187523A CN114475946A CN 114475946 A CN114475946 A CN 114475946A CN 202210187523 A CN202210187523 A CN 202210187523A CN 114475946 A CN114475946 A CN 114475946A
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China
Prior art keywords
unmanned
platform
wireless charging
charging
module
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CN202210187523.6A
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Chinese (zh)
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CN114475946B (en
Inventor
司玉林
顾阳
荣振威
孙吉莉
陈政
俞浩
钱鹏
张大海
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Hainan Institute of Zhejiang University
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Hainan Institute of Zhejiang University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/007—Helicopter portable landing pads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/32—Waterborne vessels
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Architecture (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses a resident unmanned system water surface retraction charging platform device, and belongs to the technical field of ocean engineering. The platform device comprises a platform main body, and a power supply system and a control system which are arranged on the platform main body, wherein the platform main body comprises an unmanned ship unit, an unmanned aerial vehicle unit and an underwater unmanned aircraft unit; the unmanned aerial vehicle unit is provided with a recovery bin body, and the unmanned aerial vehicle is stored in the platform, so that the unmanned aerial vehicle is prevented from sliding off the platform due to the shaking of the platform; the underwater unmanned vehicle unit is provided with the V-shaped support and the lifting device, so that the underwater unmanned vehicle is lifted out of the water surface to be charged, and the influence of water flow on wireless charging is avoided. The device can realize the retraction, extension and connection and autonomous charging of three types of intelligent unmanned systems, and embodies the convenient and fast advantages of unmanned operation.

Description

Water surface retraction charging platform device and charging method for resident unmanned system
Technical Field
The invention relates to the technical field of ocean engineering, in particular to a charging platform device for collecting and releasing a resident unmanned system on water surface and a charging method using the same.
Background
The 21 st century is the century of oceans, and oceans accounting for 71% of the world's area will be the resource on which humans will depend for survival in the future. In recent years, the resident unmanned system has been widely used in detection and research in marine environment, resources, geology and other aspects. For example, as a new type of water surface unmanned equipment, unmanned boats are widely used for performing various water tasks, such as coastline cruising, environmental monitoring, and the like; the unmanned aerial vehicle can efficiently, accurately and comprehensively monitor and analyze ocean resources by virtue of the characteristics of rapidness, convenience and the like; the unmanned underwater vehicle is used for underwater warning and executing tasks such as hydrological measurement and oceanographic research, can be carried to a designated area by an airplane and a naval vessel or directly laid from the shore, can be submerged under water for long-time remote autonomous navigation, and has the characteristics of miniaturization, intellectualization, large maneuvering range and the like.
However, the resident unmanned system faces the problem of complicated arrangement and recovery, and the problem of endurance is a serious problem existing in the use of the unmanned system, the power supply of the existing unmanned system mainly adopts a storage battery for power supply, the electric quantity of the storage battery is limited, one-time charging cannot meet long-time endurance tasks, energy replacement is frequently carried out by manpower, so that the consumption of manpower resources is large, and the real unmanned and convenient effects of the resident unmanned system cannot be realized.
Patent document CN 105226750 a discloses an unmanned ship shore-based autonomous charging system, including unmanned ship charging system, shore-based power supply system and wireless power module, unmanned ship charging system and shore-based power supply system pass through the wireless communication module and connect, and unmanned ship charging system is including the contact terminal butt joint module that charges, after unmanned ship fixes a position to the layer that charges, transfers the contact terminal butt joint module that charges and the butt joint of shore-based power supply system, realizes wired contact autonomous charging. However, the requirement of the wired contact type charging mode on accurate docking is high, and particularly for a resident offshore power supply base station, the water surface condition is bumpy, and the difficulty of wired docking is increased.
Patent document CN 112339925A discloses many rotor unmanned aerial vehicle is boat charging device at sea, including unmanned ship body, be equipped with the storehouse of charging, shut down platform and removal track on the unmanned ship body, be equipped with the structure of charging in the storehouse of charging, shut down platform movable setting on removing the track, remove the track part and set up in the storehouse of charging. When the unmanned aerial vehicle needs to be charged, the unmanned aerial vehicle hovers over the shutdown platform through positioning, the shutdown platform is an electromagnetic chuck, the unmanned aerial vehicle is adsorbed by magnetic force generated after electrification and magnetization, and the pose adjusting controller adjusts the pose of the shutdown platform and moves the shutdown platform into a charging bin to start charging. Usually unmanned aerial vehicle is small, light in weight, and the environment that the surface of water jolts makes unmanned aerial vehicle thrown away easily and shuts down the platform.
For an unmanned underwater autonomous vehicle, one or more wireless charging docks can be equipped underwater, but the water flow affects the effect of wireless charging.
Based on the problems, the water surface retraction platform device of the resident unmanned system is developed, the retraction and extension connection functions of the three types of intelligent unmanned systems can be achieved, meanwhile, the autonomous charging can be completed, and the device has important significance for achieving the real unmanned effect of the resident unmanned system.
Disclosure of Invention
The invention aims to provide a water surface retraction charging platform device of a resident unmanned system, which can realize retraction connection and wireless charging functions of three types of intelligent unmanned systems such as a rotor unmanned aerial vehicle, an unmanned ship and an autonomous underwater vehicle, and effectively solves the problems of complex arrangement and recovery of the unmanned systems, poor cruising ability and the like in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a charging platform device is receive and release to formula unmanned system surface of water that lives, includes: the power supply system and the control system are arranged on the platform main body;
the platform main body includes:
the unmanned boat unit is arranged inside the right side of the platform main body and comprises an unmanned boat restraining and retracting assembly arranged on the inner side wall of the platform main body and an unmanned boat wireless charging assembly arranged on the inner top surface of the platform main body; the unmanned ship wireless charging assembly comprises a visual positioning module and a wireless charging module, wherein the visual positioning module and the wireless charging module are used for positioning a wireless charging receiving end on the unmanned ship;
the unmanned aerial vehicle unit is arranged on the upper left half part of the platform main body and comprises a shutdown platform arranged on the upper surface of the platform main body, an unmanned aerial vehicle recovery bin embedded into the platform main body and an unmanned aerial vehicle wireless charging assembly, and the shutdown platform is controlled by a lifting device to be arranged in the unmanned aerial vehicle recovery bin in a lifting mode;
the underwater unmanned aircraft unit is arranged on the lower half part of the left side of the platform main body and comprises a V-shaped support capable of stretching into the underwater, a lifting device and an aircraft wireless charging assembly arranged on the V-shaped support, and the V-shaped support is connected to the platform main body in a lifting manner through the lifting device;
the power supply system is respectively and electrically connected with the unmanned ship wireless charging assembly, the unmanned aerial vehicle wireless charging assembly and the aircraft wireless charging assembly;
the control system is connected with all parts of the platform main body through the communication module.
The wireless charging transmitting terminal in the unmanned ship wireless charging assembly, the unmanned aerial vehicle wireless charging assembly and the aircraft wireless charging assembly is in induction butt joint with the wireless charging receiving terminal in the unmanned ship, the unmanned aerial vehicle and the underwater unmanned aircraft respectively, and wireless charging is started automatically.
The platform main body is a platform mechanism capable of floating on the water surface for a long time, and a main body frame part of the platform main body can be made of tough high-molecular polyethylene materials, so that the platform main body has good weather resistance and impact resistance, and can prevent ultraviolet rays, freezing and seawater chemical agent oil stain and other erosion. The platform body is fixed on the water surface by adopting an anchoring system mode and can automatically lift along with the rise and fall of water tide.
In order to adapt to the arrangement of various unmanned systems, the structure of the platform main body is reasonably divided. The left and right, the upper and lower, the top and the bottom are all relative spatial position relations.
The right half part of the platform main body is set as an unmanned boat charging bin, an entrance and an exit of an unmanned boat are formed in one side of the bin body, after the unmanned boat to be charged enters the charging bin, the unmanned boat restraint retraction assembly is started to restrain the unmanned boat to prevent the unmanned boat from shaking, the visual positioning module carries out plane coordinate positioning on a wireless charging receiving end of the unmanned boat and sends two-dimensional coordinates of the receiving end to a control system of the platform main body, the control system carries out resolving analysis on the two-dimensional coordinate information of the receiving end and sends a control instruction to the wireless charging module, the wireless charging module executes an instruction to move the wireless charging transmitting end into a coordinate area of the wireless charging receiving end, and the wireless charging transmitting end and the wireless charging receiving end are in butt joint to start wireless charging.
Preferably, the unmanned ship restraint retraction assembly comprises an unmanned ship proximity sensor and a restraint module for restraining the unmanned ship, and the unmanned ship proximity sensor and the restraint module are respectively in communication connection with the control system.
The unmanned ship proximity sensor is arranged on one side, opposite to the inlet and the outlet, of the bin body, when the proximity sensor senses that the unmanned ship reaches a preset proximity distance, the unmanned ship completely enters the platform, proximity signals are sent to the platform main body control system, the control system receives the signals and sends control instructions to the constraint module, the constraint module works to constrain the unmanned ship and prevent the unmanned ship from shaking. When the constraint is completed, the unmanned ship and the platform control system realize communication through wifi carried by the unmanned ship; after charging is completed, the unmanned ship sends a charging completion signal to the control system, the control system receives the signal and sends an instruction to the constraint module, and the constraint module starts to release the unmanned ship.
Preferably, the restraint module is composed of two folding and unfolding assemblies which are arranged in bilateral symmetry, the two folding and unfolding assemblies are respectively arranged on two side walls of the bin body corresponding to the parking positions of the unmanned boat, the two folding and unfolding assemblies work simultaneously, and the unmanned boat is clamped or released from the left side and the right side of the unmanned boat respectively.
The retractable assembly comprises a mounting plate fixed on the inner side wall of the platform main body, a motor arranged on the mounting plate, a guide shaft movably penetrating through the mounting plate and a restraint plate matched with the unmanned boat, one end of the guide shaft is fixedly connected with the restraint plate, and the motor is connected with the restraint plate through a connecting piece to drive the restraint plate to work.
Preferably, the guide shafts are symmetrically arranged along the edge of the mounting plate, and the axial direction of the guide shafts is perpendicular to the mounting plate. When the motor drives the restraint plate to move, the guide shaft is driven to move along the axial direction of the guide shaft, and the guide shaft plays a role in guiding. The other end and a U template fixed connection of all guiding axles, for preventing the guiding axle excessive movement, the guiding axle section cover that is located between U template and the mounting panel is equipped with the stopper, plays the effect of restriction stroke.
Preferably, the restraint module is provided with a photoelectric switch, and the photoelectric switch is in communication connection with the control system. The photoelectric switch is arranged on the mounting plate and used for monitoring whether the unmanned ship reaches a proper position or not, and if the unmanned ship reaches the proper position, the photoelectric switch sends a signal to the control system. The unmanned ship proximity sensors and the photoelectric switches are arranged at different positions, whether the unmanned ship is parked in place or not is sensed from different angles, the constraint accuracy is improved, the control system receives signals sent by the unmanned ship proximity sensors and the photoelectric switches, and then sends a control command to the constraint module to constrain the unmanned ship.
Preferably, the vision positioning module includes camera and fixed subassembly, fixed subassembly includes vertical guide, horizontal guide and retaining member, vertical guide is fixed in top surface in the platform main part, horizontal guide passes through the mounting and movably locates on the vertical guide, the camera passes through the retaining member and movably locates on the horizontal guide, vision positioning module and control system communication connection.
The camera passes through fixed subassembly and installs on unmanned ship charges the interior top surface in storehouse, during the installation, through removing and rotating the position of mounting and retaining member manual regulation camera along vertical guide rail and horizontal guide rail for wide angle camera visual angle can cover unmanned ship upper surface region. Correspondingly, the unmanned ship wireless charging receiving end is arranged on the upper surface of the unmanned ship and is provided with a coordinate mark. The image collected by the camera is uploaded to the control system through the communication module, and the control system carries out resolving analysis on the image information.
The wireless charging transmitting terminal in the wireless charging module is arranged on the top surface in the unmanned ship charging bin, and can horizontally move to any position right above the unmanned ship by sliding along the X-axis track and the Y-axis track.
The X-axis track and the Y-axis track are different in arrangement direction, the X-axis track and the Y-axis track adopt the same components and comprise a fixing plate, a guide rail, a lead screw and a motor, wherein the guide rail, the lead screw and the motor are installed on the fixing plate, the lead screw is fixedly installed on the fixing plate through a guide supporting seat, the guide rail and the lead screw are arranged in parallel, and the motor is connected with the lead screw through a coupler and drives the lead screw to work.
Specifically, orbital fixed plate of X axle is fixed on unmanned ship charging bin inner top surface, and orbital fixed plate of Y axle is installed on the X axle guide rail to be connected with the nut of lead screw. The wireless charging transmitting terminal is arranged on the guide rail of the Y-axis track and connected with a lead screw nut of the Y-axis track.
The left half part of the platform main body is divided into an upper layer and a lower layer, the upper layer is set as an unmanned aerial vehicle unit, an unmanned aerial vehicle to be charged lands on a shutdown platform from the upper space of the platform through positioning, a wireless charging transmitting end at the bottom of the shutdown platform is connected with a wireless charging receiving end of the unmanned aerial vehicle to start wireless charging, a control system sends a descending work instruction to a lifting device after monitoring the work of a wireless charging assembly of the unmanned aerial vehicle, the lifting device is started to lower the shutdown platform to an unmanned aerial vehicle recovery bin in the platform main body, the recovery bin plays a limiting role on the unmanned aerial vehicle, and the unmanned aerial vehicle is prevented from sliding off the platform due to the shaking of the platform. After charging is completed, the control system monitors a charging completion signal and sends a lifting work instruction to the lifting device.
Preferably, the surface of the parking platform is made of a silicon rubber material, and the same material is installed at the bottom of the landing frame of the unmanned aerial vehicle. The silicon rubber has the advantages of insulation, moisture resistance, sealing, adhesion, vibration prevention and the like, and when the unmanned aerial vehicle lands, the landing vibration effect of the unmanned aerial vehicle can be relieved; when unmanned aerial vehicle parks, the silicon rubber material of stopping platform surface and unmanned aerial vehicle landing frame bottom has very big stiction, can prevent that unmanned aerial vehicle from rocking by the platform main part when wireless charging and taking place great displacement.
As preferred, elevating gear is including shutting down the platform mounting panel, shut down the platform and be fixed in the mounting panel through a plurality of symmetrical arrangement's shock attenuation buffering post on, the wireless subassembly that charges of unmanned aerial vehicle is located and is shut down the platform bottom, leaves certain space with the mounting panel.
The shock attenuation buffering post gives the function of shutting down the platform shock attenuation buffering, causes mechanical shock when effectively weakening unmanned aerial vehicle or unmanned aerial vehicle carrying equipment to descend. Simultaneously, the shock attenuation buffering post prevents that unmanned aerial vehicle from strikeing to cause wireless subassembly that charges to receive the extrusion.
Preferably, the lifting device further comprises a guide module and a driving module, the stop platform mounting plate is arranged on the guide module in a penetrating mode, the driving module is connected with the stop platform mounting plate through a connecting module, and the driving module is in communication connection with the control system.
The guide module comprises a plurality of symmetrical vertical shafts arranged at the edge of the stop platform mounting plate, the corresponding vertical shafts are correspondingly arranged at the edge of the stop platform mounting plate and provided with flange shaft seats, the vertical shafts penetrate through the flange shaft seats, the bottom ends of the vertical shafts are installed in the unmanned aerial vehicle recovery bin through fixed flange plates, limiting flange plates are installed at the top ends and the positions close to the bottom ends of the vertical shafts, and the movable distance of the flange shaft seats on the vertical shafts is restrained.
The driving module comprises a driving motor, a coupler and a cross shaft, the driving motor and the cross shaft are fixedly installed through a motor base and a bearing seat respectively, the cross shaft is connected with the motor through the coupler, and the motor drives the cross shaft to rotate around the center shaft of the cross shaft.
The connecting module comprises an upper connecting block, a lower connecting block and a hinge for hinging the upper connecting block and the lower connecting block, the upper connecting block is fixedly connected with the shutdown platform mounting plate, the lower connecting block is vertically sleeved on the cross shaft and rotates along with the rotation of the cross shaft, and then the hinge and the upper connecting block are driven to move, so that the shutdown platform mounting plate is ascended and descended.
According to the invention, the underwater unmanned vehicle unit is arranged on the lower layer of the left half part of the platform main body, the inlet and the outlet of the unit are arranged under water, when charging is required, the underwater unmanned vehicle enters the underwater unmanned vehicle unit through positioning, and is lifted out of the water surface by the V-shaped support for wireless charging, so that the influence of water flow is avoided. The V-shaped table board of the V-shaped support is matched with the cylindrical peripheral surface of the underwater unmanned vehicle, the underwater unmanned vehicle is clamped on the V-shaped table board due to self gravity in the lifting process, and meanwhile, the underwater unmanned vehicle is butted with the transmitting end of a vehicle wireless charging assembly arranged on the V-shaped table board.
The lifting device comprises a plurality of electric push rods which are symmetrically arranged, the electric push rods are arranged on the platform main body, and the working ends of the electric push rods are fixedly connected with the V-shaped support. The lifting device is in communication with the control system.
Preferably, the V-shaped bracket is composed of a plurality of V-shaped strips arranged in parallel and a frame connecting the V-shaped strips, and gaps are formed among the V-shaped strips. The clearance of the V-shaped bracket helps water to drain during lifting.
And the V-shaped port of the V-shaped support is arranged corresponding to the inlet and the outlet of the underwater unmanned aircraft unit. Preferably, the underwater unmanned vehicle unit further comprises a horn-shaped guide inlet and a round guide outlet, which are respectively and correspondingly arranged on the V-shaped ports at the two ends of the V-shaped support.
Preferably, the circular directing outlet is directed towards the unmanned boat unit.
Preferably, the underwater unmanned vehicle unit is further provided with a vehicle proximity sensor, and the vehicle proximity sensor is in communication connection with the control system.
When the proximity sensor senses that the underwater unmanned vehicle reaches a preset proximity distance, the underwater unmanned vehicle completely enters the platform. The approach signal is sent to the platform main body control system, the control system receives the signal and sends a control instruction to the lifting device, the lifting device carries out lifting work, the underwater unmanned aerial vehicle is lifted to the water surface, and the unmanned aerial vehicle can be prevented from moving along with water flow when being charged underwater. When the underwater unmanned vehicle is lifted, the underwater unmanned vehicle is communicated with the platform control system through 4G signals, after the underwater unmanned vehicle is charged, the underwater unmanned vehicle sends a charging completion signal to the control system, the control system receives the signal and sends an instruction to the lifting module, the lifting device transfers the underwater unmanned vehicle to the water, and the underwater unmanned vehicle works.
The invention also provides a charging method based on the water surface retraction charging platform device of the resident unmanned system, wherein the unmanned ship charging method comprises the following steps: firstly, an unmanned ship to be charged enters an unmanned ship unit through navigation of a positioning system, the unmanned ship unit starts an unmanned ship restraint retraction assembly to restrain the unmanned ship, then a control system controls a wireless charging module to move a wireless charging transmitting terminal to a wireless charging receiving terminal coordinate area according to coordinate information of the unmanned ship wireless charging receiving terminal acquired by a visual positioning module, and the wireless charging transmitting terminal and the wireless charging receiving terminal are in butt joint to start wireless charging; after charging is finished, the control system starts the unmanned boat restraining and retracting assembly again to release the unmanned boat;
the unmanned aerial vehicle charging method comprises the following steps: firstly, an unmanned aerial vehicle to be charged lands on a shutdown platform through positioning, a wireless charging transmitting end at the bottom of the shutdown platform is in butt joint with a wireless charging receiving end of the unmanned aerial vehicle to start wireless charging, then a control system starts a lifting device to lower the shutdown platform into a recovery bin of the unmanned aerial vehicle, and after the charging is finished, the control system starts the lifting device again to lift the shutdown platform to the upper surface of a platform main body;
the underwater unmanned vehicle charging method comprises the following steps: the method comprises the steps that firstly, an underwater unmanned aircraft to be charged enters a V-shaped support of an underwater unmanned aircraft unit through positioning, then a control system starts a lifting device to lift the V-shaped support away from the water surface, a wireless charging receiving end of the underwater unmanned aircraft is in butt joint with a wireless charging transmitting end on the V-shaped support, wireless charging is started, charging is completed, and the control system starts the lifting device again to lower the V-shaped support into water.
The invention has the following beneficial effects:
(1) the water surface retraction platform device of the resident unmanned system can realize retraction, extension and connection and autonomous charging of three types of intelligent unmanned systems, effectively solves the problems of retraction and energy supply of the resident unmanned system in unattended operation, enables the unmanned system to realize real unmanned operation, greatly improves the efficiency of the resident unmanned system, and embodies the convenient and fast advantages of unmanned operation.
(2) According to the unmanned ship unit, a wireless charging mode is adopted, and meanwhile, the visual positioning module is used for positioning the wireless charging receiving end on the unmanned ship, so that the charging butt joint difficulty is greatly reduced, and the charging efficiency is improved.
(3) According to the unmanned aerial vehicle, the recovery cabin body is arranged on the unmanned aerial vehicle unit, the unmanned aerial vehicle is collected in the platform, and the unmanned aerial vehicle is prevented from sliding off the platform due to the shaking of the platform.
(4) According to the invention, the V-shaped support and the lifting device are arranged on the underwater unmanned vehicle unit, so that the underwater unmanned vehicle is lifted out of the water surface for charging, and the influence of water flow on wireless charging is avoided.
Drawings
Fig. 1 is a schematic assembly diagram of the water surface retraction charging platform device of the resident unmanned system of the present invention.
FIG. 2 is a schematic view of a platform body according to the present invention.
Fig. 3 is a left side view of the platform assembly of the present invention.
Fig. 4 is a right side view of the platform assembly of the present invention.
Fig. 5 is a bottom view of the platform assembly of the present invention.
Fig. 6 is a schematic view of the assembly of the components of the unmanned boat unit of the present invention.
Fig. 7 is a schematic view of a restraint module in the unmanned boat unit of the present invention.
Fig. 8 is a schematic view of a visual positioning module in the unmanned boat unit of the present invention.
Fig. 9 is a schematic view of a wireless charging module in the unmanned boat unit of the present invention.
Fig. 10 is a schematic view of the combination of the components of the unmanned aerial vehicle unit of the present invention.
Fig. 11 is a front view of fig. 10.
Fig. 12 is a schematic view of the drone unit guidance module of the present invention.
Fig. 13 is a schematic view of a driving module of the drone unit of the present invention.
Fig. 14 is a schematic diagram of a drone unit connection module of the present invention.
Fig. 15 is a schematic combination diagram of the components of the underwater unmanned vehicle unit.
Fig. 16 is a front view of fig. 15.
Detailed Description
The present invention is further illustrated by the following specific examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be embodied in other specific forms than those described herein, and it will be apparent to those skilled in the art that the present invention may be practiced without departing from the spirit and scope of the invention.
The left and right, the upper and lower, the top and the bottom are all relative spatial position relations.
Example 1
The embodiment provides a charging platform device for collecting and releasing water surface of a resident unmanned system, and as shown in fig. 1-3, the device comprises a platform main body 1, wherein an unmanned ship charging system, an unmanned aerial vehicle charging system, an underwater unmanned aircraft charging system, a power supply system and a control system are arranged on the platform main body 1, the power supply system provides power for each charging system, and the control system is in communication connection with each charging system to control the operation of each system. The power supply system and the control system are arranged in the control power supply bin 2.
The platform main body 1 is a platform mechanism capable of floating on the water surface for a long time, and the main frame is made of tough high-molecular polyethylene material. The structure is fixed on the water surface by adopting an anchoring system mode and can automatically fluctuate along with the fluctuation of water tide.
In order to adapt to the arrangement of various unmanned systems, the structure of the platform main body 1 is reasonably divided in the embodiment. The platform main body 1 is divided into a left part and a right part, and the right part is set as an unmanned boat unit 3 for the retraction and docking and wireless charging of an unmanned boat 6; the left half part is divided into an upper layer and a lower layer, the upper layer is provided with an unmanned aerial vehicle unit 4 for receiving, releasing, connecting and wirelessly charging an unmanned aerial vehicle 7; the lower layer is provided with an underwater unmanned aircraft unit 5 for receiving, releasing, connecting and wirelessly charging an underwater unmanned aircraft 8. Unmanned ship 6, unmanned aerial vehicle 7 and unmanned vehicle 8 have the wireless receiving terminal that charges, can open wireless charging when the wireless transmitting terminal that charges who docks with each unit response.
The unmanned ship unit 3 is arranged in the right side of the platform main body 1 and serves as an unmanned ship charging bin, an entrance and an exit of the unmanned ship are formed in one side of the cabin body, the unmanned ship 6 to be charged enters from the entrance, and the unmanned ship 6 to be charged exits from the exit after charging is completed.
As shown in fig. 4-6, the unmanned boat unit 3 includes an unmanned boat restraining and retracting assembly disposed on the inner side wall of the bin body and an unmanned boat wireless charging assembly disposed on the top surface of the bin body.
The unmanned ship restraint retraction assembly comprises an unmanned ship proximity sensor 31 and a restraint module 32 which are respectively in communication connection with the control system. Unmanned ship proximity sensor 31 locates the storehouse body and for the one side of importing and exporting, reaches predetermined proximity distance when unmanned ship proximity sensor 31 senses unmanned ship, and unmanned ship gets into inside the platform completely promptly, will be close signal transmission and give control system, and control system receives the signal, sends control command and gives restraint module 32, and restraint module 32 carries out work restraint unmanned ship, prevents that it from taking place to rock.
The restraint module 32 is composed of two retractable assemblies which are arranged in bilateral symmetry, the two retractable assemblies are respectively arranged on two side walls, corresponding to the parking positions of the unmanned boats, of the cabin body, the two retractable assemblies work simultaneously, and the unmanned boats are clamped or released from the left side and the right side of the unmanned boats respectively.
As shown in fig. 7, the retraction assembly includes a mounting plate 32a fixed to the inner side wall of the platform body, a motor 32b provided on the mounting plate 32a, a guide shaft 32c movably inserted through the mounting plate 32a, and a restraining plate 32d adapted to the unmanned boat. One end of the guide shaft 32c is fixedly connected with the restraining plate 32d, and the motor 32b is controlled by the control system to drive the restraining plate 32d to move back and forth along the axial direction of the guide shaft 32 c.
Specifically, the plurality of guide shafts 32c are symmetrically arranged along the edge of the mounting plate 32a, the axial direction of the guide shafts is perpendicular to the mounting plate 32a, and when the motor 32b drives the restraining plate 32d to move, the guide shafts 32c are driven to move along the axial direction of the guide shafts, and the guide shafts 32c play a role in guiding. The other end of all guiding axles 32c and a U-shaped board 32e fixed connection play the fixed action, for preventing guiding axle 32c excessive movement, is equipped with stopper 32f at the guiding axle section cover that is located between U-shaped board 32e and mounting panel 32a, play the effect of restriction stroke.
The motor 32b is connected with the restraint plate 32d through a connecting piece, the connecting piece comprises a fixing block 32g and a connecting copper column 32h, the driving end of the motor is fixed on the fixing block through a connecting flange, and the fixing block 32g is connected with the restraint plate 32d through the connecting copper column 32 h.
The mounting plate 32a is further provided with a photoelectric switch 32i for monitoring whether the unmanned ship reaches a proper position, the photoelectric switch 32i is in communication connection with the control system, and if the unmanned ship reaches the proper position, a signal is sent to the control system. In the embodiment, the unmanned surface vehicle proximity sensor 31 and the photoelectric switch 32i are simultaneously arranged at different positions, whether the unmanned surface vehicle is parked in place or not is sensed from different angles, the control system receives signals sent by the unmanned surface vehicle proximity sensor and the photoelectric switch, and then sends a control instruction to the constraint module 32 to constrain the unmanned surface vehicle.
When the restraint is accomplished, unmanned ship carries wifi through the ship and realizes communication with platform control system, and control system starts the wireless subassembly that charges of unmanned ship and carries out wireless charging to unmanned ship.
The unmanned ship wireless charging assembly comprises a visual positioning module 33 and a wireless charging module 34, wherein the visual positioning module 33 is used for positioning a wireless charging receiving end on the unmanned ship. The upper surface of the unmanned ship to be charged is provided with a wireless charging receiving end and is provided with a coordinate mark. The visual positioning module 33 carries out plane coordinate positioning on the wireless charging receiving end of the unmanned ship, the two-dimensional coordinate of the receiving end is sent to the control system, the control system carries out resolving analysis on the two-dimensional coordinate information of the receiving end, a control instruction is sent to the wireless charging module 34, the wireless charging module 34 executes the instruction to move the wireless charging transmitting end to the coordinate area of the wireless charging receiving end, and the wireless charging is started through the butt joint of the wireless charging transmitting end and the wireless charging receiving end.
As shown in fig. 8, the visual positioning module 33 includes a camera 33a and a fixing component, the camera 33a is installed on the top surface in the unmanned boat charging bin through the fixing component, the fixing component includes a vertical guide rail 33b, a horizontal guide rail 33c and a locking member 33d, the vertical guide rail 33b is fixed on the top surface in the platform main body, the horizontal guide rail 33c is movably disposed on the vertical guide rail 33b through a fixing member 33e, and the camera 33a is movably disposed on the horizontal guide rail 33c through the locking member 33 d.
During installation, the camera 33a is manually adjusted in position by moving along the vertical guide rail 33b and the horizontal guide rail 33c and rotating the locking piece 33d and the fixing piece 33e, so that the wide-angle camera visual angle can cover the surface area range of the unmanned boat. The image collected by the camera 33a is uploaded to the control system through the communication module, and the control system performs resolving analysis on the image information.
As shown in fig. 9, the wireless charging module 34 includes an X-axis track 34a, a Y-axis track 34b and a wireless charging transmitting terminal 34c, the Y-axis track 34b is movably disposed on the X-axis track 34a and is perpendicular to a plane thereof, and the wireless charging transmitting terminal 34c is movably disposed on the Y-axis track 34 b. The wireless charging transmitting terminal 34c can horizontally move into the coordinate area of the wireless charging receiving terminal of the unmanned boat 6 by sliding along the X-axis track and the Y-axis track.
The X-axis track and the Y-axis track are the same components, the difference lies in that the arrangement directions are different, the components comprise a fixing plate 341, a guide rail 342, a lead screw 343 and a motor 344, the guide rail 342, the lead screw 343 and the motor 344 are mounted on the fixing plate, the lead screw 343 is fixedly mounted on the fixing plate 341 through a guide supporting seat, the guide rail 342 and the lead screw 343 are arranged in parallel, and the motor 344 is connected with the lead screw 343 through a coupler to drive the lead screw 343 to work. The motor 344 drive is controlled by the control system. Specifically, the fixing plate of the X-axis rail 34a is fixed on the top surface in the unmanned ship charging bin, and the fixing plate of the Y-axis rail 34b is installed on the X-axis rail and connected with the nut of the lead screw. The wireless charging transmitting terminal 34c is mounted on the guide rail of the Y-axis track and connected with the lead screw nut thereof.
After charging, the unmanned ship 6 sends a charging completion signal to the control system, the control system receives the signal and sends an instruction to the constraint module 32, and the constraint module 32 starts to release the unmanned ship 6.
First one 1 left side of platform main part is located to unmanned aerial vehicle unit 4, retrieves storehouse and the wireless subassembly that charges of unmanned aerial vehicle including the unmanned aerial vehicle of locating 1 upper surface of platform main part of shutting down platform 41, embedding platform main part inside, shuts down platform 41 and is set up in unmanned aerial vehicle retrieves the storehouse by elevating gear control liftable.
Treat unmanned aerial vehicle 7 that charges and descend on shutting down platform 41 through the location from the platform sky, the wireless transmitting terminal that charges of shutting down platform 41 bottom and the wireless receiving terminal that charges of unmanned aerial vehicle 7 are butted and are opened wireless charging, control system monitors the wireless subassembly work back that charges of unmanned aerial vehicle, send descending work instruction to elevating gear, elevating gear starts and falls shutting down platform 41 to the inside unmanned aerial vehicle recovery storehouse of platform main part, the recovery storehouse plays spacing effect to unmanned aerial vehicle 7, prevent to rock because of the platform and lead to unmanned aerial vehicle landing from the platform. After charging is completed, the control system monitors a charging completion signal and sends a lifting work instruction to the lifting device.
In order to increase the static friction force between the unmanned aerial vehicle 7 and the shutdown platform 41, the surface of the shutdown platform 41 and the bottom of the landing frame of the unmanned aerial vehicle 7 are made of silicon rubber materials, and the silicon rubber materials have the advantages of adhesion, vibration prevention and the like, so that on one hand, the unmanned aerial vehicle 7 can be prevented from shaking by the platform main body 1 to generate large displacement during wireless charging; on the other hand, when the unmanned aerial vehicle 7 lands, the landing vibration effect of the unmanned aerial vehicle 7 can be reduced.
As shown in fig. 10-11, the shutdown platform 41 is disposed on a lifting device, the lifting device includes a shutdown platform mounting plate 42, a guide module 43, and a driving module 44, the shutdown platform mounting plate 42 is disposed on the guide module 43 in a penetrating manner, the driving module 44 is connected to the shutdown platform mounting plate 42 through a connecting module 45, the driving module 44 is in communication connection with a control system, and the shutdown platform mounting plate 42 is controlled to move up and down along the guide module 43.
Specifically, shut down platform 41 and be fixed in mounting panel 42 through the shock attenuation bumping post 46 of a plurality of symmetrical arrangement on, the platform 41 bottom is shut down to unmanned aerial vehicle wireless charging assembly's transmitting terminal 47 is located, leaves certain space with mounting panel 42. Shock attenuation buffering post 46 gives the function of shutting down platform 41 shock attenuation buffering, causes mechanical shock when effectively weakening unmanned aerial vehicle 7 or unmanned aerial vehicle carrying equipment and descending. Simultaneously, shock attenuation buffering post 46 prevents that unmanned aerial vehicle from strikeing to cause wireless subassembly that charges to receive the extrusion.
As shown in fig. 12, the guiding module 43 includes a plurality of vertical shafts 43a symmetrically arranged at the edge of the shutdown platform mounting plate 42, correspondingly, a flange shaft seat 43b is arranged at the edge of the shutdown platform mounting plate, the vertical shafts 43a are movably arranged in the flange shaft seat 43b in a penetrating manner, the bottom ends of the vertical shafts are installed in the unmanned aerial vehicle recovery bin through a fixed flange disc 43c, and a limiting flange disc 43d is installed at the top end and a position close to the bottom end to restrict the movable distance of the flange shaft seat 43b on the vertical shafts 43 a.
As shown in fig. 13, the driving module 44 includes a driving motor 44a, a coupling 44b and a horizontal shaft 44c, the driving motor 44a and the horizontal shaft 44c are respectively fixed and mounted through a motor base and a bearing seat, the horizontal shaft 44c is connected with the motor 44a through the coupling 44b, and the motor 44c drives the horizontal shaft 44c to rotate around its central axis.
As shown in fig. 14, the connection module 45 includes an upper connection block 45a, a lower connection block 45b, and a hinge 45c for hinging the upper connection block and the lower connection block, the upper connection block 45a is fixedly connected to the shutdown platform mounting plate 42, the lower connection block 45b is vertically sleeved on the horizontal shaft 44c, and the horizontal shaft 44c rotates to drive the lower connection block 45b to rotate, so as to drive the hinge 45c and the upper connection block 45a to move, thereby realizing the ascending and descending of the shutdown platform mounting plate 42.
The underwater unmanned vehicle unit 5 is arranged on the lower half part of the left side of the platform main body 1, and an inlet and an outlet of the unit are arranged underwater. As shown in fig. 15 to 16, the underwater unmanned vehicle unit 5 includes a V-shaped bracket 51 that can be extended underwater, a lifting device 52, a vehicle wireless charging assembly 53 provided on the V-shaped bracket 51, and a vehicle proximity sensor 54, and the V-shaped bracket 51 is connected to the platform body by the lifting device 52 in a liftable manner. Lift device 52 and aircraft proximity sensor 54 are communicatively coupled to the control system.
The underwater unmanned vehicle 8 to be charged enters an underwater unmanned vehicle unit through positioning, when the proximity sensor 54 senses that the underwater unmanned vehicle 8 reaches a preset proximity distance, namely the underwater unmanned vehicle completely enters the bearing range of the V-shaped support 51 in the platform, a proximity signal is sent to the control system, the control system receives the signal and sends a control instruction to the lifting device 52, the lifting device 52 carries out lifting work, the underwater unmanned vehicle 8 is lifted to the water surface, and the unmanned vehicle 8 can be prevented from moving along with water flow when being charged underwater.
Specifically, the V-shaped bracket 51 is composed of a plurality of V-shaped strips 51a arranged in parallel and a frame 51b connected with the V-shaped strips, and a gap is formed between the V-shaped strips 51a, so that water is discharged in the lifting process. The V-shaped table of the V-shaped support 51 is matched with the cylindrical peripheral surface of the underwater unmanned vehicle 8, the underwater unmanned vehicle 8 is clamped on the V-shaped table due to self gravity in the lifting process, and meanwhile, the underwater unmanned vehicle is butted with the transmitting end of a vehicle wireless charging assembly 53 arranged on the V-shaped table.
The lifting device 52 comprises a plurality of electric push rods 52a which are symmetrically arranged, the electric push rods 52a are installed on the platform main body 1, and the working ends of the electric push rods are fixedly connected with the V-shaped support 51.
When the underwater unmanned vehicle 8 is lifted, the underwater unmanned vehicle 8 and the platform control system are communicated through 4G signals, after the charging is completed, the underwater unmanned vehicle 8 sends a charging completion signal to the control system, the control system receives the signal and sends an instruction to the lifting module, the lifting device lowers the underwater unmanned vehicle 8 to the water, and the underwater unmanned vehicle 8 works.
The underwater unmanned vehicle unit is provided with a horn-shaped guide inlet 55 and a round guide outlet 56 which are respectively and correspondingly arranged at two ends of a V-shaped opening of the V-shaped support 51. The circular directing outlet 56 is directed towards the drone unit, i.e. the underwater unmanned vehicle 8 that has completed charging, exits the platform body 1 from under the water of the drone unit.
The water surface retraction platform device of the resident unmanned system provided by the embodiment can realize retraction, extension and autonomous charging of three intelligent unmanned systems of an unmanned boat, an unmanned aerial vehicle and an underwater unmanned vehicle, and effectively solves the retraction and energy supply problems of the resident unmanned system in unattended state.
Specifically, based on the charging method of the water surface retraction charging platform device of the resident unmanned system, the unmanned ship charging method comprises the following steps: firstly, an unmanned ship to be charged enters an unmanned ship unit through navigation of a positioning system, the unmanned ship unit starts an unmanned ship restraint retraction assembly to restrain the unmanned ship, then a control system controls a wireless charging module to move a wireless charging transmitting terminal to a wireless charging receiving terminal coordinate area according to coordinate information of the unmanned ship wireless charging receiving terminal acquired by a visual positioning module, and the wireless charging transmitting terminal and the wireless charging receiving terminal are in butt joint to start wireless charging; after charging is finished, the control system starts the unmanned boat restraining and retracting assembly again to release the unmanned boat;
the unmanned aerial vehicle charging method comprises the following steps: firstly, an unmanned aerial vehicle to be charged lands on a shutdown platform through positioning, a wireless charging transmitting end at the bottom of the shutdown platform is in butt joint with a wireless charging receiving end of the unmanned aerial vehicle to start wireless charging, then a control system starts a lifting device to lower the shutdown platform into a recovery bin of the unmanned aerial vehicle, and after the charging is finished, the control system starts the lifting device again to lift the shutdown platform to the upper surface of a platform main body;
the underwater unmanned vehicle charging method comprises the following steps: the method comprises the steps that firstly, an underwater unmanned aircraft to be charged enters a V-shaped support of an underwater unmanned aircraft unit through positioning, then a control system starts a lifting device to lift the V-shaped support away from the water surface, a wireless charging receiving end of the underwater unmanned aircraft is in butt joint with a wireless charging transmitting end on the V-shaped support, wireless charging is started, charging is completed, and the control system starts the lifting device again to lower the V-shaped support into water.
The above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and it should be understood by those of ordinary skill in the art that modifications or equivalent substitutions may be made to the solutions of the present invention.

Claims (10)

1. The utility model provides a charging platform device is receive and release to formula unmanned system surface of water that lives which characterized in that includes: the power supply system and the control system are arranged on the platform main body;
the platform main body includes:
the unmanned boat unit is arranged inside the right side of the platform main body and comprises an unmanned boat restraining and retracting assembly arranged on the inner side wall of the platform main body and an unmanned boat wireless charging assembly arranged on the inner top surface of the platform main body; the unmanned ship wireless charging assembly comprises a visual positioning module and a wireless charging module, wherein the visual positioning module and the wireless charging module are used for positioning a wireless charging receiving end on the unmanned ship;
the unmanned aerial vehicle unit is arranged on the upper left half part of the platform main body and comprises a shutdown platform arranged on the upper surface of the platform main body, an unmanned aerial vehicle recovery bin embedded into the platform main body and an unmanned aerial vehicle wireless charging assembly, and the shutdown platform is controlled by a lifting device to be arranged in the unmanned aerial vehicle recovery bin in a lifting mode;
the underwater unmanned aircraft unit is arranged on the lower half part of the left side of the platform main body and comprises a V-shaped support capable of stretching into the underwater, a lifting device and an aircraft wireless charging assembly arranged on the V-shaped support, and the V-shaped support is connected to the platform main body in a lifting manner through the lifting device;
the power supply system is respectively and electrically connected with the unmanned ship wireless charging assembly, the unmanned aerial vehicle wireless charging assembly and the aircraft wireless charging assembly;
the control system is connected with all parts of the platform main body through the communication module.
2. The device as claimed in claim 1, wherein the unmanned surface vehicle restraining and deploying assembly comprises an unmanned surface vehicle proximity sensor and a restraining module for restraining the unmanned surface vehicle, the unmanned surface vehicle proximity sensor and the restraining module being in communication with the control system, respectively.
3. The device as claimed in claim 2, wherein the restriction module is provided with a photoelectric switch, and the photoelectric switch is in communication connection with the control system.
4. The device as claimed in claim 1, wherein the vision positioning module comprises a camera and a fixing component, the fixing component comprises a vertical guide rail, a horizontal guide rail and a locking component, the vertical guide rail is fixed on the inner top surface of the platform body, the horizontal guide rail is movably arranged on the vertical guide rail through the fixing component, and the camera is movably arranged on the horizontal guide rail through the locking component; the visual positioning module is in communication connection with the control system.
5. A resident unmanned system water surface retraction charging platform apparatus as claimed in claim 1, wherein the surface of the shutdown platform is of silicone rubber material.
6. The device as claimed in claim 1, wherein the lifting device comprises a mounting plate of the parking platform, the parking platform is fixed on the mounting plate by a plurality of symmetrically arranged shock absorption and buffering columns, and the wireless charging assembly of the unmanned aerial vehicle is arranged at the bottom of the parking platform.
7. The device as claimed in claim 6, wherein the elevating device further comprises a guiding module and a driving module, the parking platform mounting plate is movably disposed through the guiding module, the driving module is connected with the parking platform mounting plate through a connecting module, and the driving module is in communication connection with the control system.
8. The water surface retraction charging platform device of a resident unmanned system as claimed in claim 1, wherein the V-shaped bracket is composed of a plurality of V-shaped strips arranged in parallel and a frame connecting the V-shaped strips, and there is a gap between the V-shaped strips; and the V-shaped port of the V-shaped support is arranged corresponding to the inlet and the outlet of the underwater unmanned aircraft unit.
9. The device as claimed in claim 1, wherein the underwater unmanned vehicle unit further comprises a vehicle proximity sensor, and the vehicle proximity sensor is in communication connection with the control system.
10. A charging method based on the charging platform device for the water surface retraction of the resident unmanned system according to any one of claims 1 to 9,
the unmanned ship charging method comprises the following steps: firstly, an unmanned ship to be charged enters an unmanned ship unit through navigation of a positioning system, the unmanned ship unit starts an unmanned ship restraint retraction assembly to restrain the unmanned ship, then a control system controls a wireless charging module to move a wireless charging transmitting terminal to a wireless charging receiving terminal coordinate area according to coordinate information of the unmanned ship wireless charging receiving terminal acquired by a visual positioning module, and the wireless charging transmitting terminal and the wireless charging receiving terminal are in butt joint to start wireless charging; after charging is finished, the control system starts the unmanned boat restraining and retracting assembly again to release the unmanned boat;
the unmanned aerial vehicle charging method comprises the following steps: firstly, an unmanned aerial vehicle to be charged lands on a shutdown platform through positioning, a wireless charging transmitting terminal at the bottom of the shutdown platform is connected with a wireless charging receiving terminal of the unmanned aerial vehicle to start wireless charging, then a control system starts a lifting device to lower the shutdown platform into a recovery bin of the unmanned aerial vehicle, and after the charging is finished, the control system starts the lifting device again to lift the shutdown platform to the upper surface of a platform main body;
the underwater unmanned vehicle charging method comprises the following steps: the method comprises the steps that firstly, an underwater unmanned aircraft to be charged enters a V-shaped support of an underwater unmanned aircraft unit through positioning, then a control system starts a lifting device to lift the V-shaped support away from the water surface, a wireless charging receiving end of the underwater unmanned aircraft is in butt joint with a wireless charging transmitting end on the V-shaped support, wireless charging is started, charging is completed, and the control system starts the lifting device again to lower the V-shaped support into water.
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