CN114475946B - 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
CN114475946B
CN114475946B CN202210187523.6A CN202210187523A CN114475946B CN 114475946 B CN114475946 B CN 114475946B CN 202210187523 A CN202210187523 A CN 202210187523A CN 114475946 B CN114475946 B CN 114475946B
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unmanned
platform
wireless charging
charging
aerial vehicle
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CN114475946A (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

Abstract

The invention discloses a water surface retraction charging platform device of a resident unmanned system, 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 plane unit and an underwater unmanned plane unit, the unmanned ship unit adopts a wireless charging mode, and meanwhile, a wireless charging receiving end on the unmanned ship is positioned by utilizing a visual positioning module, so that the difficulty of charging and docking is greatly reduced, and the charging efficiency is improved; the unmanned aerial vehicle unit is provided with a recovery bin body, and the unmanned aerial vehicle is received in the platform, so that the unmanned aerial vehicle is prevented from sliding off the platform due to shaking of the platform; the V-shaped support and the lifting device are arranged on the underwater unmanned aircraft unit, the underwater unmanned aircraft is lifted out of the water surface to charge, and the influence of water flow on wireless charging is avoided. The device can realize the receiving and releasing connection and the autonomous charging of three intelligent unmanned systems, and embody the convenient advantage of unmanned.

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 water surface retraction charging platform device of a resident unmanned system and a charging method using the same.
Background
The 21 st century is the century of the ocean, and the ocean, which occupies 71% of the world's area, will be a resource for human 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 the like. For example, unmanned boats are widely used as a novel unmanned water surface equipment for performing various water tasks such as coastline cruising, environmental monitoring, etc.; the unmanned aerial vehicle can monitor and analyze ocean resources efficiently, accurately and comprehensively by virtue of the characteristics of rapidness, convenience and the like; the unmanned underwater vehicle is used for underwater warning and performing hydrologic measurement, marine research and other tasks, can be carried to a designated area by an airplane and a ship or directly laid on the shore, can submerge underwater for long-time long-distance autonomous navigation, and has the characteristics of miniaturization, intellectualization, wide maneuvering range and the like.
However, the resident unmanned system has the problems of complex arrangement and recovery, and the problem of continuous voyage 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, the continuous voyage task for a long time cannot be met by one-time charging, and the energy source needs to be replaced frequently by manpower, so that the manpower resource consumption is high, and the unmanned and convenient resident unmanned system cannot be realized in the true sense.
Patent document CN 105226750A discloses an unmanned ship shore-based autonomous charging system, including unmanned ship charging system, shore-based power supply system and wireless power-on module, unmanned ship charging system and shore-based power supply system pass through unlimited communication module and connect, and unmanned ship charging system is including charging contact terminal butt joint module, and after unmanned ship location charges the layer, call charging contact terminal butt joint module and shore-based power supply system butt joint, realize that the line contact is independently charged. However, the wired contact charging mode has higher requirements for accurate docking, and particularly for a resident offshore power supply base station, the water surface condition is bumpy, so that the difficulty of wired docking is increased.
Patent document CN 112339925A discloses a many rotor unmanned aerial vehicle marine landing ship charging device, including unmanned ship body, be equipped with charge storehouse, shut down platform and removal track on the unmanned ship body, be equipped with charging structure in the charge storehouse, shut down platform movable setting is on the removal track, and the removal track part sets up in the charge storehouse. When unmanned aerial vehicle needs to charge, hover in the platform of shutting down the sky through the location, shut down the platform and be electromagnet, produce magnetic force after the circular telegram magnetizing and adsorb unmanned aerial vehicle, pose adjustment controller adjusts and shut down platform pose and remove to the storehouse that charges in start charging. The unmanned aerial vehicle is small in size, light in weight and easy to throw out of the shutdown platform in a bumpy water surface environment.
For an unattended autonomous underwater vehicle, one or more wireless charging docks are arranged underwater, but 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 connection function of the three intelligent unmanned systems is realized, and meanwhile, the autonomous charging can be completed, so that the device has important significance for realizing unmanned in the true sense 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 the retraction connection and wireless charging functions of three intelligent unmanned systems such as a rotor unmanned plane, an unmanned ship and an autonomous underwater vehicle, and effectively solves the problems of complex unmanned system arrangement and recovery, poor cruising ability and the like in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a water surface retractable charging platform device of a resident unmanned system, comprising: the platform comprises a platform main body, and a power supply system and a control system which are arranged on the platform main body;
the platform body includes:
the unmanned ship unit is arranged in the right side of the platform main body and comprises an unmanned ship constraint retraction assembly arranged on the inner side wall of the platform main body and an unmanned ship wireless charging assembly arranged on the inner top surface of the platform main body; the unmanned aerial vehicle 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 aerial vehicle, the wireless charging module comprises an X-axis track, a Y-axis track and a wireless charging transmitting end, the Y-axis track is movably arranged on the X-axis track and is perpendicular to the plane of the X-axis track, and the wireless charging transmitting end is movably arranged on the Y-axis track;
the unmanned aerial vehicle unit is arranged on the upper half part of the left side 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, wherein the shutdown platform is controlled by a lifting device to be arranged in the unmanned aerial vehicle recovery bin in a lifting manner;
the underwater unmanned aircraft unit is arranged at the lower half part of the left side of the platform main body and comprises a V-shaped bracket which can extend into the water, a lifting device and an aircraft wireless charging assembly arranged on the V-shaped bracket, wherein the V-shaped bracket is connected to the platform main body in a lifting manner by the lifting device;
the power supply system is electrically connected with the unmanned ship wireless charging assembly, the unmanned plane wireless charging assembly and the aircraft wireless charging assembly respectively;
the control system is connected with all parts of the platform main body through a communication module.
The wireless charging transmitting ends in the unmanned ship wireless charging assembly, the unmanned plane wireless charging assembly and the aircraft wireless charging assembly are respectively in inductive butt joint with the wireless charging receiving ends in the unmanned ship, the unmanned plane and the underwater unmanned aircraft, and wireless charging is automatically started.
The platform main body is a platform mechanism capable of floating on the water surface for a long time, and the main body frame part of the platform main body can be made of tough high polymer polyethylene materials, so that the platform main body has good weather resistance and impact damage resistance, and can resist ultraviolet, freezing and seawater chemical agent oil stains. The platform main body is fixed on the water surface by adopting an anchor system mode, and can automatically lift along with the fluctuation of water tide.
In order to adapt to the arrangement of various unmanned systems, the invention reasonably divides the structure of the platform main body. The left and right, upper and lower, top and bottom are all relative spatial positional relationships.
According to the unmanned aerial vehicle charging system, the right half part of the platform main body is set as the unmanned aerial vehicle charging bin, an inlet and an outlet of the unmanned aerial vehicle are formed in one side of the bin body, after the unmanned aerial vehicle to be charged enters the charging bin, the unmanned aerial vehicle restraining and releasing assembly is started to restrain the unmanned aerial vehicle to prevent the unmanned aerial vehicle from shaking, the visual positioning module performs plane coordinate positioning on a wireless charging receiving end of the unmanned aerial vehicle, and sends two-dimensional coordinates of the receiving end to a control system of the platform main body, the control system performs resolving analysis on two-dimensional coordinate information of the receiving end, 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 wireless charging receiving end coordinate area, and the wireless charging receiving end and the unmanned aerial vehicle are in butt joint.
Preferably, the unmanned ship restraining retraction assembly comprises an unmanned ship proximity sensor and a restraining module for restraining the unmanned ship, wherein the unmanned ship proximity sensor and the restraining module are respectively in communication connection with the control system.
The unmanned ship proximity sensor is arranged on one side of the bin body relative to the inlet and the outlet, when the proximity sensor senses that the unmanned ship reaches a preset proximity distance, namely, the unmanned ship completely enters the platform, a proximity signal is sent to the platform main body control system, the control system receives the signal and sends a control instruction to the constraint module, and the constraint module works to constrain the unmanned ship and prevent the unmanned ship from shaking. When the restraint is completed, the unmanned ship and the platform control system realize communication through the unmanned ship-borne wifi; after the unmanned ship is charged, 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 retraction assemblies which are arranged in bilateral symmetry, the two retraction assemblies are respectively arranged on two side walls of the bin body, which correspond to the parking positions of the unmanned boats, the two retraction assemblies work simultaneously, and the unmanned boats are respectively clamped or released from the left side and the right side of the unmanned boats.
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 constraint plate matched with the unmanned ship, wherein one end of the guide shaft is fixedly connected with the constraint plate, and the motor is connected with the constraint plate through a connecting piece to drive the constraint 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 constraint plate to move, the guide shaft is driven to move along the axial direction of the constraint plate, and the guide shaft plays a guide role. The other ends of all the guide shafts are fixedly connected with a U-shaped plate, and limiting blocks are sleeved on the guide shaft sections between the U-shaped plate and the mounting plate to limit the travel for preventing the guide shafts from excessive movement.
Preferably, the constraint 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, a signal is sent to the control system. According to the invention, the unmanned ship proximity sensor and the photoelectric switch are arranged at different positions, so that whether the unmanned ship is parked in place or not is sensed from different angles, the restraint accuracy is improved, the control system receives signals sent by the unmanned ship proximity sensor and the photoelectric switch, and then a control instruction is sent to the restraint module to restrain the unmanned ship.
Preferably, the visual positioning module comprises a camera and a fixing assembly, the fixing assembly comprises a vertical guide rail, a horizontal guide rail and a locking piece, the vertical guide rail is fixed on the inner top surface of the platform main body, the horizontal guide rail is movably arranged on the vertical guide rail through the fixing piece, the camera is movably arranged on the horizontal guide rail through the locking piece, and the visual positioning module is in communication connection with the control system.
The camera is installed on the top surface in the unmanned ship charging bin through fixed subassembly, and during the installation, through remove and rotate the position of mounting and retaining member manual regulation camera along perpendicular guide rail and horizontal guide rail for wide angle camera view angle can cover unmanned ship upper surface area. Correspondingly, the unmanned aerial vehicle wireless charging receiving end is arranged on the upper surface of the unmanned aerial vehicle and provided with a coordinate mark. The image collected by the camera is uploaded to a control system through a communication module, and the control system performs resolving analysis on the image information.
The wireless transmitting terminal that charges in the wireless module that charges sets up on the unmanned ship storehouse internal top surface that charges, through realizing along X axle track and Y axle track slip that wireless transmitting terminal that charges can the horizontal migration to unmanned ship directly over optional position.
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, the X-axis track and the Y-axis track comprise a fixed plate, a guide rail, a screw rod and a motor, the guide rail, the screw rod and the motor are installed on the fixed plate, the screw rod is fixedly installed on the fixed plate through a guide support seat, the guide rail and the screw rod are arranged in parallel, and the motor is connected with the screw rod through a coupler and drives the screw rod to work.
Specifically, the fixed plate of the X-axis track is fixed on the inner top surface of the unmanned ship charging bin, and the fixed plate of the Y-axis track is arranged on the X-axis guide rail and is connected with a nut of the screw rod. The wireless charging transmitting end is arranged on the guide rail of the Y-axis track and is connected with the screw nut of the Y-axis track.
According to the invention, the left half part of the platform main body is divided into an upper layer and a lower layer, the upper layer is arranged as an unmanned aerial vehicle unit, the unmanned aerial vehicle to be charged drops on the shutdown platform from the upper side of the platform through positioning, the wireless charging transmitting end at the bottom of the shutdown platform is in butt joint with the wireless charging receiving end of the unmanned aerial vehicle to start wireless charging, after the control system monitors that the unmanned aerial vehicle wireless charging assembly works, a descending working instruction is sent to the lifting device, the lifting device starts the shutdown platform to descend to the unmanned aerial vehicle recovery bin in the platform main body, and the recovery bin plays a limiting role on the unmanned aerial vehicle, so that the unmanned aerial vehicle is prevented from sliding off the platform due to shaking of the platform. After the charging is finished, the control system monitors a charging finishing signal and sends a lifting working instruction to the lifting device.
Preferably, the surface of the shutdown platform is made of a silicon rubber material, and the same material is installed at the bottom of the unmanned aerial vehicle landing frame. The silicon rubber has the advantages of insulation, moisture resistance, sealing, adhesion, vibration prevention and the like, and can reduce the landing vibration effect of the unmanned aerial vehicle when the unmanned aerial vehicle lands; when unmanned aerial vehicle parks, the silicon rubber material of shut down platform surface and unmanned aerial vehicle landing frame bottom has very big stiction, can prevent that unmanned aerial vehicle from receiving the platform main part to rock when wireless charging and taking place great displacement.
Preferably, the lifting device comprises a mounting plate of a shutdown platform, the shutdown platform is fixed on the mounting plate through a plurality of symmetrically arranged shock absorption buffer columns, the wireless charging assembly of the unmanned aerial vehicle is arranged at the bottom of the shutdown platform, and a certain gap is reserved between the wireless charging assembly and the mounting plate.
The shock attenuation buffer column gives the function of parking platform shock attenuation buffering, effectively weakens unmanned aerial vehicle or unmanned aerial vehicle and causes mechanical shock when carrying equipment to descend. Meanwhile, the shock absorption buffer column prevents the unmanned aerial vehicle from impacting to cause the wireless charging assembly to be extruded.
Preferably, the lifting device further comprises a guide module and a driving module, the shutdown platform mounting plate is arranged on the guide module in a penetrating mode, the driving module is connected with the shutdown 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 vertical shafts which are symmetrically arranged at the edge of the mounting plate of the shutdown platform, the corresponding flange shaft seats are arranged at the edge of the mounting plate of the shutdown platform, the vertical shafts are arranged on the flange shaft seats in a penetrating mode, the bottom ends of the vertical shafts are arranged in the recycling bin of the unmanned aerial vehicle through fixed flange plates, limiting flange plates are arranged 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 transverse shaft, wherein the driving motor and the transverse shaft are respectively and fixedly installed through a motor base and a bearing seat, the transverse shaft is connected with the motor through the coupler, and the motor drives the transverse shaft to rotate around the center of the transverse 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, wherein the upper connecting block is fixedly connected with a shutdown platform mounting plate, the lower connecting block is vertically sleeved on a transverse shaft, the lower connecting block is driven to rotate along with the rotation of the transverse shaft, the hinge is driven to move with the upper connecting block, and the shutdown platform mounting plate is lifted and lowered.
According to the invention, the underwater unmanned aircraft 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 all arranged underwater, and when charging is needed, the underwater unmanned aircraft enters the underwater unmanned aircraft unit through positioning, and is lifted out of the water surface by the V-shaped bracket to perform wireless charging, so that the influence of water flow is avoided. The V-shaped table top of the V-shaped support is matched with the cylindrical peripheral surface of the underwater unmanned aircraft, the underwater unmanned aircraft is clamped on the V-shaped table top due to self gravity in the lifting process, and meanwhile butt joint with the transmitting end of the aircraft wireless charging assembly arranged on the V-shaped table top is completed.
The lifting device comprises a plurality of symmetrically arranged electric push rods, wherein 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 brackets. The lifting device is in communication with the control system.
Preferably, the V-shaped bracket is composed of a plurality of V-shaped strips which are arranged in parallel and a frame connected with the V-shaped strips, and gaps are reserved among the V-shaped strips. The clearance of the V-shaped bracket helps to drain water during lifting.
The V-shaped opening of the V-shaped bracket is arranged corresponding to the inlet and the outlet of the underwater unmanned aircraft unit. Preferably, the underwater unmanned aircraft unit further comprises a horn-shaped guide inlet and a round guide outlet, and the V-shaped openings are respectively and correspondingly arranged at two ends of the V-shaped bracket.
Preferably, the circular guiding outlet is directed towards the unmanned aerial vehicle unit.
Preferably, the underwater unmanned aircraft unit is further provided with an aircraft proximity sensor, which is in communication with the control system.
When the proximity sensor senses that the underwater unmanned aerial vehicle reaches a preset proximity distance, the underwater unmanned aerial 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 performs lifting operation, 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 lifting is finished, the underwater unmanned aerial vehicle and the platform control system realize communication through 4G signals, after charging is finished, the underwater unmanned aerial vehicle sends a charging finishing signal to the control system, the control system receives the signals and sends instructions to the lifting module, the lifting device releases the underwater unmanned aerial vehicle into water, and the underwater unmanned aerial vehicle works.
The invention also provides a charging method based on the resident unmanned system water surface retractable charging platform device, 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 constraint retraction assembly to constrain the unmanned ship, then a control system controls a wireless charging module to move a wireless charging transmitting end into a wireless charging receiving end coordinate area according to wireless charging receiving end coordinate information of the unmanned ship acquired by a visual positioning module, and the unmanned ship are in butt joint to start wireless charging; after the charging is finished, the control system starts the unmanned ship restraining and releasing assembly again to release the unmanned ship;
the unmanned aerial vehicle charging method comprises the following steps: firstly, an unmanned aerial vehicle to be charged drops 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 an unmanned aerial vehicle recycling bin, and after 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 charging method of the underwater unmanned aircraft comprises the following steps: firstly, an underwater unmanned aircraft to be charged enters a V-shaped bracket of an underwater unmanned aircraft unit through positioning, then a control system starts a lifting device to lift the V-shaped bracket off 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 bracket to start wireless charging, charging is completed, and the control system starts the lifting device again to lower the V-shaped bracket into the water.
The invention has the beneficial effects that:
(1) The water surface retraction platform device of the resident unmanned system can realize retraction and connection and autonomous charging of three types of intelligent unmanned systems, effectively solves the retraction and energy supply problems of the resident unmanned system when the resident unmanned system is in unattended condition, enables the unmanned system to realize real unmanned, greatly improves the efficiency of the resident unmanned system, and reflects the convenience and advantages of unmanned.
(2) According to the invention, the unmanned ship unit adopts a wireless charging mode, and the visual positioning module is utilized to position the wireless charging receiving end on the unmanned ship, so that the difficulty of charging and docking is greatly reduced, and the charging efficiency is improved.
(3) According to the invention, the recovery bin body is arranged on the unmanned aerial vehicle unit, and the unmanned aerial vehicle is received in the platform, so that the unmanned aerial vehicle is prevented from sliding off the platform due to shaking of the platform.
(4) According to the invention, the V-shaped bracket and the lifting device are arranged on the underwater unmanned aircraft unit, so that the underwater unmanned aircraft is lifted out of the water surface to charge, and the influence of water flow on wireless charging is avoided.
Drawings
Fig. 1 is a schematic diagram of an assembly of a water surface retractable charging platform device of a resident unmanned system of the invention.
Fig. 2 is a schematic diagram of a main body of the platform according to the present invention.
Fig. 3 is a left side view of the assembly of the platform assembly of the present invention.
Fig. 4 is a right side view of the assembly of the platform assembly of the present invention.
Fig. 5 is a bottom view of the assembly of the platform assembly of the present invention.
Fig. 6 is a schematic view of the unmanned boat unit assembly of the present invention.
Fig. 7 is a schematic diagram of a restraint module in a unmanned aerial vehicle unit according to the present invention.
Fig. 8 is a schematic view of a visual positioning module in the unmanned aerial vehicle unit of the present invention.
Fig. 9 is a schematic diagram of a wireless charging module in the unmanned aerial vehicle unit according to the present invention.
Fig. 10 is a schematic diagram 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 a unmanned unit guiding module according to the present invention.
Fig. 13 is a schematic diagram of a driving module of a unmanned aerial vehicle unit according to the present invention.
Fig. 14 is a schematic view of a connection module of a unmanned aerial vehicle unit according to the present invention.
Figure 15 is a schematic view of the assembly of the components of the underwater unmanned vehicle unit of the present invention.
Fig. 16 is a front view of fig. 15.
Detailed Description
The invention will be further illustrated with reference to 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 practiced in other ways than those described herein, and persons skilled in the art will readily appreciate that the present invention may be similarly generalized without departing from the scope of the present invention.
The left and right, upper and lower, top and bottom are all relative spatial positional relationships.
Example 1
The embodiment provides a resident unmanned system water surface retractable charging platform device, which 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 and controls each system to run. 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 polymer polyethylene materials. The structure is fixed on the water surface by adopting an anchor system mode, and can automatically rise and fall along with the rise and fall of water tide.
In order to adapt to various unmanned system layout, the structure of the platform main body 1 is reasonably divided in this embodiment. The platform main body 1 is divided into a left part and a right part, and the right half part is set as an unmanned ship unit 3 and is used for folding, unfolding, connection and wireless charging of an unmanned ship 6; the left half part is divided into an upper layer and a lower layer, and the upper layer is arranged as an unmanned aerial vehicle unit 4 for receiving and releasing the unmanned aerial vehicle 7 and wireless charging; the lower layer is arranged as an underwater unmanned aircraft unit 5 and is used for the retraction and extension connection and wireless charging of an underwater unmanned aircraft 8. Unmanned ship 6, unmanned aerial vehicle 7 and unmanned underwater vehicle 8 have wireless receiving terminal that charges, can open wireless charging when with the wireless charging transmitting terminal response butt joint of each unit.
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 inlet and an outlet of the unmanned ship are formed in one side of the bin body, the unmanned ship 6 to be charged is driven in from the inlet, and the unmanned ship is driven out from the outlet after charging is completed.
As shown in fig. 4-6, the unmanned aerial vehicle unit 3 comprises an unmanned aerial vehicle restraining retraction assembly arranged on the inner side wall of the bin body and an unmanned aerial vehicle wireless charging assembly arranged on the inner top surface of the bin body.
The unmanned boat restraint retraction assembly comprises an unmanned boat proximity sensor 31 and a restraint module 32 which are respectively in communication connection with the control system. The unmanned ship proximity sensor 31 is located the storehouse and is imported and exported one side relatively, and when unmanned ship proximity sensor 31 sensed that unmanned ship reaches preset proximity distance, the unmanned ship gets into inside the platform completely promptly, sends the control system with the proximity signal, and control system receives the signal, sends control command to restraint module 32, and restraint module 32 carries out work constraint unmanned ship, prevents that it from taking place to rock.
The restraint module 32 is composed of two retractable components which are arranged in bilateral symmetry, the two retractable components are respectively arranged on two side walls of the bin body, which correspond to the unmanned ship parking positions, the two retractable components work simultaneously, and the unmanned ship is respectively clamped or released from the left side and the right side of the unmanned ship.
As shown in fig. 7, the retraction assembly includes a mounting plate 32a fixed on the inner sidewall of the platform body, a motor 32b disposed on the mounting plate 32a, a guide shaft 32c movably penetrating the mounting plate 32a, and a restraint plate 32d adapted to the unmanned ship. One end of the guide shaft 32c is fixedly connected with the constraint plate 32d, and the motor 32b is controlled by a control system to drive the constraint plate 32d to move back and forth along the axial direction of the guide shaft 32 c.
Specifically, the 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 constraint plate 32d to move, the guide shafts 32c are driven to move along the axial direction of the constraint plate, and the guide shafts 32c play a role in guiding. The other ends of all the guide shafts 32c are fixedly connected with a U-shaped plate 32e, so that the guide shafts 32c are prevented from excessively moving, and a limiting block 32f is sleeved on the guide shaft section between the U-shaped plate 32e and the mounting plate 32a, so that the travel limiting effect is achieved.
The motor 32b is connected with the constraint plate 32d through a connecting piece, the connecting piece comprises a fixed block 32g and a connecting copper column 32h, the motor driving end is fixed on the fixed block through a connecting flange, and the fixed block 32g is connected with the constraint 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 this embodiment, the unmanned ship proximity sensor 31 and the photoelectric switch 32i are simultaneously arranged at different positions, so as to sense whether the unmanned ship is parked in place from different angles, the control system receives signals sent by the unmanned ship proximity sensor 31 and the photoelectric switch, and then sends a control instruction to the constraint module 32 to constrain the unmanned ship.
When restraint is accomplished, unmanned ship passes through on-board wifi and platform control system realization communication, and control system starts unmanned ship wireless charging subassembly and carries out wireless charging to unmanned ship.
The unmanned aerial vehicle wireless charging assembly comprises a visual positioning module 33 and a wireless charging module 34, wherein the visual positioning module 33 and the wireless charging module 34 are used for positioning a wireless charging receiving end on the unmanned aerial vehicle. The unmanned ship upper surface that waits to charge is provided with wireless receiving terminal that charges to have the coordinate sign. The visual positioning module 33 performs plane coordinate positioning on the wireless charging receiving end of the unmanned ship, and sends the two-dimensional coordinates of the receiving end to the control system, the control system performs resolving analysis on the two-dimensional coordinate information of the receiving end, and sends a control instruction to the wireless charging module 34, the wireless charging module 34 executes an instruction to move the wireless charging transmitting end into the wireless charging receiving end coordinate area, and the wireless charging is started by butt joint of the two.
As shown in fig. 8, the visual positioning module 33 includes a camera 33a and a fixing assembly, the camera 33a is mounted on the inner top surface of the unmanned aerial vehicle charging bin through the fixing assembly, the fixing assembly 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 inner top surface of the platform 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.
When the unmanned aerial vehicle is installed, the position of the camera 33a is manually adjusted by moving and rotating the locking member 33d and the fixing member 33e along the vertical guide rail 33b and the horizontal guide rail 33c, so that the wide-angle camera view angle can cover the upper surface area range of the unmanned aerial vehicle. The image collected by the camera 33a is uploaded to a control system through a 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 end 34c, wherein the Y-axis track 34b is movably disposed on the X-axis track 34a and perpendicular to the plane thereof, and the wireless charging transmitting end 34c is movably disposed on the Y-axis track 34 b. The wireless charging transmitting end 34c can horizontally move into the wireless charging receiving end coordinate area of the unmanned ship 6 by sliding along the X-axis track and the Y-axis track.
The same components are adopted for the X-axis track and the Y-axis track, the difference is that the arrangement directions are different, the components comprise a fixed plate 341, a guide rail 342, a lead screw 343 and a motor 344, the guide rail 343 is fixedly arranged on the fixed plate 341 through a guide support seat, the guide rail 342 is arranged in parallel with the lead screw 343, the motor 344 is connected with the lead screw 343 through a coupler, and the lead screw 343 is driven to work. The motor 344 drive is controlled by a control system. Specifically, the fixing plate of the X-axis track 34a is fixed on the inner top surface of the unmanned aerial vehicle charging bin, and the fixing plate of the Y-axis track 34b is mounted on the X-axis guide rail and connected with the nut of the screw rod. The wireless charging transmitting end 34c is mounted on the guide rail of the Y-axis track and connected with the lead screw nut thereof.
After the charging is completed, 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 restraint module 32, and the restraint module 32 starts to release the unmanned ship 6.
Unmanned aerial vehicle unit 4 locates platform main part 1 left side upper half, including locating platform 41 that stops of platform main part 1 upper surface, embedding the inside unmanned aerial vehicle of platform main part retrieve storehouse and unmanned aerial vehicle wireless charging assembly, stop platform 41 by elevating gear control liftable setting in unmanned aerial vehicle retrieves the storehouse.
The unmanned aerial vehicle 7 that waits to charge drops on the shut down platform 41 through the location from the platform sky, and wireless charging transmitting terminal of shut down platform 41 bottom opens wireless charging with unmanned aerial vehicle 7's wireless charging receiving terminal butt joint on, and control system monitors unmanned aerial vehicle wireless charging subassembly work after, sends the decline work instruction to elevating gear, and elevating gear starts to drop the unmanned aerial vehicle recovery storehouse to the platform main part inside with shut down platform 41, retrieves the storehouse and plays spacing effect to unmanned aerial vehicle 7, prevents to lead to unmanned aerial vehicle landing from the platform because of the platform rocks. After the charging is finished, the control system monitors a charging finishing signal and sends a lifting working 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 materials have the advantages of adhesion, vibration prevention and the like, and on one hand, the unmanned aerial vehicle 7 can be prevented from being greatly displaced due to shaking of the platform main body 1 during wireless charging; on the other hand, when the unmanned aerial vehicle 7 lands, it can alleviate the landing vibration effect of the unmanned aerial vehicle 7.
As shown in fig. 10-11, the shutdown platform 41 is disposed on a lifting device, the lifting device comprises a shutdown platform mounting plate 42, a guide module 43 and a driving module 44, the shutdown platform mounting plate 42 is arranged on the guide module 43 in a penetrating manner, the driving module 44 is connected with 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, the shutdown platform 41 is fixed on the mounting plate 42 through a plurality of symmetrically arranged shock absorption buffer columns 46, and a transmitting end 47 of the unmanned aerial vehicle wireless charging assembly is arranged at the bottom of the shutdown platform 41 and is in a certain gap with the mounting plate 42. The shock absorption and buffering column 46 gives the function of shock absorption and buffering to the shutdown platform 41, so that mechanical impact caused when the unmanned aerial vehicle 7 or the unmanned aerial vehicle carrying equipment drops is effectively reduced. Meanwhile, the shock absorption buffer posts 46 prevent the unmanned aerial vehicle from impacting to cause the wireless charging assembly to be extruded.
As shown in fig. 12, the guiding module 43 includes a plurality of vertical shafts 43a symmetrically arranged at the edge of the mounting plate 42 of the shutdown platform, and the flange shaft seat 43b is correspondingly arranged at the edge of the mounting plate of the shutdown platform, the vertical shafts 43a movably penetrate through the flange shaft seat 43b, the bottom ends of the vertical shafts are installed in the recycling bin of the unmanned aerial vehicle through fixing flange plates 43c, limiting flange plates 43d 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 seat 43b on the vertical shafts 43a is restrained.
As shown in fig. 13, the driving module 44 includes a driving motor 44a, a coupling 44b, and a transverse shaft 44c, the driving motor 44a and the transverse shaft 44c are fixedly mounted through a motor base and a bearing base, respectively, the transverse shaft 44c is connected with the motor 44a through the coupling 44b, and the motor 44c drives the transverse shaft 44c to rotate around its center 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 with the shutdown platform mounting plate 42, the lower connection block 45b is vertically sleeved on the transverse shaft 44c, and the lower connection block 45b is driven to rotate along with the rotation of the transverse shaft 44c, so that the hinge 45c and the upper connection block 45a are driven to move, and the shutdown platform mounting plate 42 is lifted and lowered.
The underwater unmanned aircraft unit 5 is arranged at the lower half part of the left side of the platform main body 1, and the inlet and outlet of the unit are all arranged underwater. As shown in fig. 15-16, the underwater unmanned vehicle unit 5 includes a V-shaped bracket 51 that can be extended into the water, a lifting device 52, a vehicle wireless charging assembly 53 provided on the V-shaped bracket 51, and a vehicle proximity sensor 54, the V-shaped bracket 51 being liftably connected to the platform body by the lifting device 52. The lifting device 52 and the aircraft proximity sensor 54 are communicatively coupled to a control system.
The unmanned underwater vehicle 8 to be charged enters the unmanned underwater vehicle unit through positioning, when the proximity sensor 54 senses that the unmanned underwater vehicle 8 reaches a preset proximity distance, namely, the unmanned underwater 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 performs lifting operation, the unmanned underwater vehicle 8 is lifted to the water surface, and the unmanned underwater 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 gaps are formed between the V-shaped strips 51a, so that water is discharged in the lifting process. The V-shaped table top of the V-shaped support 51 is matched with the cylindrical outer peripheral surface of the underwater unmanned aerial vehicle 8, the underwater unmanned aerial vehicle 8 is clamped on the V-shaped table top due to self gravity in the lifting process, and meanwhile butt joint with the transmitting end of the wireless charging assembly 53 of the unmanned aerial vehicle arranged on the V-shaped table top is completed.
The lifting device 52 comprises a plurality of symmetrically arranged electric push rods 52a, wherein the electric push rods 52a are arranged on the platform main body 1, and the working ends of the electric push rods 52a are fixedly connected with the V-shaped brackets 51.
When lifting is completed, the underwater unmanned aerial vehicle 8 and the platform control system realize communication through 4G signals, after charging is completed, the underwater unmanned aerial 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 releases the underwater unmanned aerial vehicle 8 into water, and the underwater unmanned aerial vehicle 8 works.
The underwater unmanned vehicle unit has a horn-shaped guide inlet 55 and a circular guide outlet 56, which are respectively provided at both ends of the V-shaped opening of the V-shaped bracket 51. The circular guiding outlet 56 is directed towards the drone unit, i.e. the charged underwater unmanned vehicle 8 leaves the platform body 1 from the under water of the drone unit.
The water surface retraction platform device of the resident unmanned system provided by the embodiment can realize retraction and connection and autonomous charging of three intelligent unmanned systems of an unmanned ship, an unmanned plane and an underwater unmanned aircraft, and effectively solves the problems of retraction and energy supply of the resident unmanned system when unmanned values are kept.
Specifically, the charging method based on the resident unmanned system water surface retractable charging platform device 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 constraint retraction assembly to constrain the unmanned ship, then a control system controls a wireless charging module to move a wireless charging transmitting end into a wireless charging receiving end coordinate area according to wireless charging receiving end coordinate information of the unmanned ship acquired by a visual positioning module, and the unmanned ship are in butt joint to start wireless charging; after the charging is finished, the control system starts the unmanned ship restraining and releasing assembly again to release the unmanned ship;
the unmanned aerial vehicle charging method comprises the following steps: firstly, an unmanned aerial vehicle to be charged drops 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 an unmanned aerial vehicle recycling bin, and after 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 charging method of the underwater unmanned aircraft comprises the following steps: firstly, an underwater unmanned aircraft to be charged enters a V-shaped bracket of an underwater unmanned aircraft unit through positioning, then a control system starts a lifting device to lift the V-shaped bracket off 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 bracket to start wireless charging, charging is completed, and the control system starts the lifting device again to lower the V-shaped bracket into the water.
The above embodiments are merely for illustrating the technical solution of the present invention and not for limiting, and it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the solution of the present invention.

Claims (9)

1. The utility model provides a charging platform device is received to resident unmanned system surface of water, which characterized in that includes: the platform comprises a platform main body, and a power supply system and a control system which are arranged on the platform main body;
the platform body includes:
the unmanned ship unit is arranged in the right side of the platform main body and comprises an unmanned ship constraint retraction assembly arranged on the inner side wall of the platform main body and an unmanned ship wireless charging assembly arranged on the inner top surface of the platform main body;
the unmanned ship restraining retraction assembly comprises an unmanned ship proximity sensor and a restraining module for restraining the unmanned ship, wherein the unmanned ship proximity sensor and the restraining module are respectively in communication connection with a control system; the unmanned ship proximity sensor is arranged at one side of the bin body opposite to the inlet and the outlet; the restraint module consists of two retraction assemblies which are symmetrically arranged left and right, the two retraction assemblies are respectively arranged on two side walls of the bin body, which correspond to the unmanned ship parking position, the retraction assemblies comprise 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 the mounting plate and a restraint plate matched with the unmanned ship, one end of the guide shaft is fixedly connected with the restraint plate, the motor is connected with the restraint plate through a connecting piece to drive the restraint plate to work, and the two retraction assemblies work simultaneously to clamp or release the unmanned ship from the left side and the right side of the unmanned ship respectively; the constraint module is provided with a photoelectric switch for monitoring whether the unmanned ship reaches a proper position or not, and the photoelectric switch is in communication connection with the control system;
the unmanned aerial vehicle 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 aerial vehicle, the wireless charging module comprises an X-axis track, a Y-axis track and a wireless charging transmitting end, the Y-axis track is movably arranged on the X-axis track and is perpendicular to the plane of the X-axis track, and the wireless charging transmitting end is movably arranged on the Y-axis track;
the unmanned aerial vehicle unit is arranged on the upper half part of the left side 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, wherein the shutdown platform is controlled by a lifting device to be arranged in the unmanned aerial vehicle recovery bin in a lifting manner;
the underwater unmanned aircraft unit is arranged at the lower half part of the left side of the platform main body and comprises a V-shaped bracket which can extend into the water, a lifting device and an aircraft wireless charging assembly arranged on the V-shaped bracket, wherein the V-shaped bracket is connected to the platform main body in a lifting manner by the lifting device;
the power supply system is electrically connected with the unmanned ship wireless charging assembly, the unmanned plane wireless charging assembly and the aircraft wireless charging assembly respectively;
the control system is connected with all parts of the platform main body through a communication module.
2. The water surface retraction charging platform device for the resident unmanned system according to claim 1, wherein a plurality of guide shafts are symmetrically arranged along the edge of the mounting plate, the axial direction of the guide shafts is vertical to the mounting plate, the other ends of all the guide shafts are fixedly connected with a U-shaped plate, and limiting blocks are sleeved on the sections of the guide shafts between the U-shaped plate and the mounting plate.
3. The water surface retraction charging platform device of the resident unmanned system according to claim 1, wherein the visual positioning module comprises a camera and a fixing component, the fixing component comprises a vertical guide rail, a horizontal guide rail and a locking piece, the vertical guide rail is fixed on the inner top surface of the platform main body, the horizontal guide rail is movably arranged on the vertical guide rail through the fixing piece, and the camera is movably arranged on the horizontal guide rail through the locking piece; the visual positioning module is in communication connection with the control system.
4. The surface retracting and releasing charging platform device of a resident unmanned system of claim 1, wherein the surface of the stopping platform is made of a silicon rubber material.
5. The water surface retraction charging platform device for a resident unmanned aerial vehicle system according to claim 1, wherein the lifting device comprises a mounting plate of a parking platform, the parking platform is fixed on the mounting plate through a plurality of symmetrically arranged shock absorption buffer columns, and the unmanned aerial vehicle wireless charging assembly is arranged at the bottom of the parking platform.
6. The water surface retraction charging platform device for the resident unmanned system according to claim 5 wherein the lifting device further comprises a guide module and a driving module, wherein the shutdown platform mounting plate is movably arranged on the guide module in a penetrating manner, the driving module is connected with the shutdown platform mounting plate through a connecting module, and the driving module is in communication connection with the control system.
7. The water surface retraction charging platform device of the resident unmanned system according to claim 1, wherein the V-shaped bracket consists of a plurality of V-shaped strips which are arranged in parallel and a frame connected with the V-shaped strips, and gaps are arranged among the V-shaped strips; the V-shaped opening of the V-shaped bracket is arranged corresponding to the inlet and the outlet of the underwater unmanned aircraft unit.
8. The unmanned system water surface retractable charging platform apparatus of claim 1, wherein the unmanned underwater vehicle unit is further provided with a vehicle proximity sensor, the vehicle proximity sensor being in communication with a control system.
9. A charging method based on the water surface retraction charging platform device of the resident unmanned system according to any one of the claims 1 to 8, 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 approaches a sensor and a photoelectric switch, whether the unmanned ship is parked in place is sensed from different angles, a control system receives signals sent by the unmanned ship and the photoelectric switch and sends control instructions to a constraint module to constrain the unmanned ship, the unmanned ship unit starts an unmanned ship constraint retraction assembly to constrain the unmanned ship, and then the control system controls a wireless charging module to move a wireless charging transmitting end into a wireless charging receiving end coordinate area according to wireless charging receiving end coordinate information of the unmanned ship acquired by a visual positioning module, and the unmanned ship unit and the unmanned ship are in butt joint to start wireless charging; after the charging is finished, the control system starts the unmanned ship restraining and releasing assembly again to release the unmanned ship;
the unmanned aerial vehicle charging method comprises the following steps: firstly, an unmanned aerial vehicle to be charged drops 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 an unmanned aerial vehicle recycling bin, and after 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 charging method of the underwater unmanned aircraft comprises the following steps: firstly, an underwater unmanned aircraft to be charged enters a V-shaped bracket of an underwater unmanned aircraft unit through positioning, then a control system starts a lifting device to lift the V-shaped bracket off 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 bracket to start wireless charging, charging is completed, and the control system starts the lifting device again to lower the V-shaped bracket into the water.
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