CN114655105A - Mobile rotor unmanned plane bee colony hangar - Google Patents
Mobile rotor unmanned plane bee colony hangar Download PDFInfo
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- CN114655105A CN114655105A CN202210371011.5A CN202210371011A CN114655105A CN 114655105 A CN114655105 A CN 114655105A CN 202210371011 A CN202210371011 A CN 202210371011A CN 114655105 A CN114655105 A CN 114655105A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/86—Land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- 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
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- 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
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- 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
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Abstract
The invention provides a movable rotary wing unmanned aerial vehicle swarm hangar, which takes a wheel type maneuvering platform as a carrying platform, is composed of containers and comprises the following components: the system comprises an independent machine position, a central control system, a left side door, a right side door, a top side door and a middle partition plate; each hangar comprises a plurality of layers of loading platforms, each layer of loading platform consists of 2n independent machine positions, and each independent machine position is provided with an independent drawer type telescopic device and can park an unmanned aerial vehicle; each independent machine position is provided with a square base, and the bases have the functions of stopping, charging, fixing, centering and data transmission; the top side door, the left side door and the right side door that the container hangar set up, all side doors are linked through hinge and bottom plate or box baffle, and all side doors can open simultaneously under central control system control.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle transportation equipment, and relates to a movable rotor unmanned aerial vehicle swarm hangar.
Background
In recent years, with the rapid development and application of unmanned aerial vehicle technology, network technology, artificial intelligence and communication technology, a large number of low-cost unmanned aerial vehicles rapidly enter the visual field of military research institutions of various countries by virtue of reconnaissance attack, scale operation, flexible recombination and low-cost operation efficiency advantages in a brand-new operation mode of bee colonies. The unmanned aerial vehicle bee colony combat action is a novel and practical combat mode, and has great combat potential and application prospect.
Disclosure of Invention
In order to solve the technical problems, the invention provides a mobile rotor unmanned aerial vehicle swarm hangar which is arranged on a wheel type mobile carrying platform, takes a container as a main body, and comprises a plurality of layers of loading platforms, wherein each layer of loading platform is provided with a plurality of independent machine positions for parking the mobile rotor unmanned aerial vehicles; the hangar further comprises: the central control system, the left side door, the right side door, the top side door and the middle partition plate;
each independent station is provided with an independent drawer type telescopic device for taking off and recovering the mobile rotor unmanned aerial vehicle;
each independent machine position is provided with a square base, and the square bases have the functions of stopping, charging and data transmission;
the container is provided with the top side door the left side door with right side door, the side door pass through the hinge with container bottom plate or intermediate bottom links, and can open simultaneously under central control system's control.
Further, the independent drawer type telescopic device completes the telescopic operation of a single layer of loading platform or the integral simultaneous telescopic operation of multiple layers of loading platforms under the control of the central control system;
the mobile rotor unmanned aerial vehicle of the loading platform on the uppermost layer can take off and recover through the top side door;
and the rest layers of the loading platforms are expanded in a stepped manner according to task requirements so as to complete take-off and recovery of any one mobile rotor unmanned aerial vehicle.
Further: the stand platform of independent position includes from last to down: the centering device, the apron plate, the charging device, the buffering and damping device and the telescopic device are arranged on the apron plate; the buffer damping device consists of an integral damping pad of the apron plate and dampers on four corners of the apron plate;
the centering device comprises: the left side and the right side of the parking apron plate are respectively provided with two straight rods, and the two straight rods are connected with two cross rods at the upper ends of the corresponding straight rods on the left side and the right side so as to form two door-shaped frames, the height of each cross rod can be adjusted, and the cross rods are respectively named as an upper electric rod and a lower electric rod;
the upper electric rod and the lower electric rod are respectively provided with two circular bulges, and the positions of the bulges can be adjusted;
when the mobile rotor unmanned aerial vehicle successfully lands, the two door-shaped frames of the centering device are symmetrically and inwards closed under the control of the central control system so as to push the mobile rotor unmanned aerial vehicle to return to the middle position of the apron plate;
when the mobile rotor unmanned aerial vehicle returns to the middle position of the parking apron plate, the two door-shaped frame cross rods rise back to the preset height and are further drawn close inwards at the same time, so that the mobile rotor unmanned aerial vehicle is buckled.
Further, the stand-alone machine further comprises a fixing device, and the fixing device comprises: a left upright pole, a right upright pole and an upper clamping rod;
the vertical rods and the upper clamping rod are respectively provided with at least one telescopic rod, the head parts of the telescopic rods are provided with rubber contacts, and the top end of one of the two vertical rods is provided with a fixed vertical rod and an upper clamping rod fixing buckle;
the top end of the other upright post is connected and fixed with the upright post and the upper clamping rod through a hinge;
flexible dead lever passes through the rubber contact pressurization, right portable rotor unmanned aerial vehicle organism is implemented fixedly.
Further, unmanned aerial vehicle charging device adopts wired or wireless charging device, charges for the unmanned aerial vehicle of this position under unmanned aerial vehicle parking state.
Further, the central control system sends an instruction to the selected independent aircraft position through a remote control network, the communication device of the independent aircraft position receives the instruction, a control signal corresponding to the instruction is sent to the control device of the independent aircraft position after the instruction is decoded, and the control device sends the control signal to the independent aircraft position driving mechanism to realize one-key takeoff of the mobile rotor unmanned aerial vehicle.
Further, an infrared signal emitter is installed at the bottom of the mobile rotor unmanned aerial vehicle, the mobile rotor unmanned aerial vehicle is provided with different infrared signal pulse widths or duty ratios according to the number of the parking places, and infrared cameras are arranged on the parking place plates of the independent parking places; identifying the mobile rotor unmanned aerial vehicle corresponding to the current independent aircraft position by reading the pulse width or duty ratio of an infrared signal transmitted by an infrared signal transmitter on the unmanned aerial vehicle;
central control system is based on installing the infrared signal of the infrared signal transmitter transmission of portable rotor unmanned aerial vehicle bottom judges portable rotor unmanned aerial vehicle with the relative position deviation of air park board, thereby the guide portable rotor unmanned aerial vehicle realizes accurate descending.
Further, the hangar includes a drone recovery system, the drone recovery system including: the device comprises an infrared transmitting module, an infrared receiving module and a radio communication module;
the infrared emission module is arranged on a base platform of the independent machine position;
the infrared emission module includes: the infrared ray controlled by the singlechip is coded and sent according to a preset pseudo-random code sequence;
an infrared receiving module on the mobile rotor unmanned aerial vehicle receives the signal of the infrared transmitting module and executes signal decoding, and a signal source and the position of the signal source are determined according to the decoded signal;
the wireless communication module is in including setting up two wireless communication machines of portable rotor unmanned aerial vehicle end and affiliated independent position end for the base of affiliated independent position with communication between the portable rotor unmanned aerial vehicle.
Further, the hangar still is equipped with the location basic station to install positioning sensor at portable rotor unmanned aerial vehicle.
Further, the hangar is in real-time communication connection with the mobile rotor unmanned aerial vehicle through a central control system;
the central control system has the functions of task tracking, task planning, observation and driving; an operator sends an instruction to the mobile rotor unmanned aerial vehicle through an uplink of the central control system, and the mobile rotor unmanned aerial vehicle returns corresponding data to the operator through a downlink;
the central control system includes: unmanned aerial vehicle flight control platform, payload are kept watch on and the control cabinet, with portable rotor unmanned aerial vehicle communicates communication subsystem, is used for keeping watch on portable rotor unmanned aerial vehicle state and flight path's navigation display screen, recorder and payload measurement's display screen, map display screen and central computer.
By adopting the method, the mobile rotor unmanned aerial vehicle swarm hangar is arranged by depending on the wheel type vehicle-mounted transportation platform, has good maneuvering performance, is convenient for rapid deployment, and can rapidly reach the vicinity of a task area. The hangar is mainly used for functions of transportation, emission, recovery and the like of unmanned aerial vehicle swarms in a field operation environment during task execution.
Drawings
FIG. 1 is a schematic view of an entire hangar according to the present invention;
FIG. 2 is a front view of the hangar case according to the present invention;
FIG. 3 is a side view of the hangar case according to the present invention;
FIG. 4 is an expanded side view of the hangar case according to the present invention;
FIG. 5 is a side view of the platform in a stepped deployment configuration in accordance with the present invention;
FIG. 6 is a stepped deployment view of the stand platform according to the present invention;
fig. 7 is a schematic view of a fixing device of an unmanned aerial vehicle of a stand platform according to the present invention;
FIG. 8 is a schematic diagram of a communication subsystem of the central control system according to the present invention;
fig. 9 is a schematic view of the step deployment of the landing platform of the parking space of the present invention.
Detailed Description
The mobile rotor unmanned aerial vehicle swarm hangar provided by the invention is arranged by depending on a wheel type vehicle-mounted transportation platform, has good maneuvering performance, is convenient for rapid deployment, and can rapidly reach the vicinity of a task area. The hangar is mainly used for functions of transportation, emission, recovery and the like of unmanned aerial vehicle swarms in a field operation environment during task execution.
The following detailed description of the embodiments of the invention refers to the accompanying drawings.
The invention provides a movable rotor unmanned aerial vehicle swarm hangar, which is arranged on a wheel type maneuvering carrying platform, takes a container as a main body, and comprises a plurality of layers of loading platforms, wherein each layer of loading platform is provided with a plurality of independent machine positions for parking the movable rotor unmanned aerial vehicle; the hangar further comprises: the central control system, the left side door, the right side door, the top side door and the middle partition plate;
each independent station is provided with an independent drawer type telescopic device for taking off and recovering the mobile rotor unmanned aerial vehicle;
each independent machine position is provided with a square base, and the square bases have the functions of stopping, charging and data transmission;
the container is provided with the top side door the left side door with right side door, the side door pass through the hinge with container bottom plate or intermediate bottom links, and can open simultaneously under central control system's control.
The mobile rotor unmanned aerial vehicle swarm hangar provided by the invention is designed by taking a standard container as a main body (the length, the width and the height of the container are 6058mm2438mm2438mm respectively) depending on a wheel type motor-driven carrying platform, the hangar is provided with 3 layers of loading platforms, each layer of loading platform consists of 6 independent machine positions, and 18 rotor unmanned aerial vehicle systems can be loaded simultaneously. Each station is provided with an independent drawer type telescopic device, so that the single unmanned aerial vehicle can take off and recover conveniently. When necessary, the central control system can be used for realizing the integral extension and retraction of each layer of loading platform, so that the unmanned aerial vehicle on each layer can take off and recover simultaneously. The independent machine positions are provided with square bases, and the bases integrate the functions of stopping, fixing, centering, charging, data transmission and the like. The container is provided with a top side door, a left side door and a right side door, and can be opened simultaneously, and after the container is unfolded, the drawer type machine position can be automatically stretched out according to instructions and unfolded in a step mode, so that the container is not influenced by taking off and recycling of a single unmanned aerial vehicle or multiple unmanned aerial vehicles. This design make full use of the inner space of the storehouse body, realize structural optimization, reach the design purpose of storing more unmanned aerial vehicles.
Furthermore, the independent drawer type telescopic devices complete the extension and retraction of a single layer of loading platform or the integral simultaneous extension and retraction of multiple layers of loading platforms under the control of the central control system;
the mobile rotor unmanned aerial vehicle of the loading platform on the uppermost layer can take off and recover through the top side door;
and the rest layers of the loading platforms are expanded in a stepped manner according to task requirements so as to finish the take-off and recovery of any one mobile rotor unmanned aerial vehicle.
Further: the stand platform of independent position includes from last to down: the centering device, the apron plate, the charging device, the buffering and damping device and the telescopic device are arranged on the apron plate; the buffer damping device is composed of an integral damping pad of the parking apron plate and dampers on four corners of the parking apron plate.
The parking place platform has the functions of centering, shock absorption, fixation, data writing/returning, charging and the like, and the parking place platform (about 20cm) consists of a fixing device, a centering device, a parking apron plate, a wireless charging device, a buffering and shock absorption device and a telescopic device from top to bottom.
The centering device comprises: the left side and the right side of the parking apron plate are respectively provided with two straight rods, and the two straight rods are connected with two cross rods at the upper ends of the corresponding straight rods on the left side and the right side so as to form two door-shaped frames, the height of each cross rod can be adjusted, and the cross rods are respectively named as an upper electric rod and a lower electric rod;
the upper electric rod and the lower electric rod are respectively provided with two circular bulges, and the positions of the bulges can be adjusted;
when the mobile rotor unmanned aerial vehicle successfully lands, the two door-shaped frames of the centering device are symmetrically and inwards closed under the control of the central control system so as to push the mobile rotor unmanned aerial vehicle to return to the middle position of the apron plate;
when the mobile rotor unmanned aerial vehicle returns to the middle position of the parking apron plate, the two door-shaped frame cross rods rise back to the preset height and are further drawn close inwards at the same time, so that the mobile rotor unmanned aerial vehicle is buckled.
The centering device is four electric rods around the surface of the platform, the left electric rod and the right electric rod are common straight rods, the upper electric rod and the lower electric rod are respectively provided with two circular bulges, and the bulges can adjust positions. After unmanned aerial vehicle descended successfully, four poles can be the symmetry and draw close inwards for unmanned aerial vehicle returns to the middle under the effect of the circular protruding thrust of two upper and lower electronic poles. Similarly, after centering, the upper and lower rods rise back to corresponding heights and then move inwards for a little distance, and then move downwards to just fasten the unmanned aerial vehicle base. After unmanned aerial vehicle returned to the center, fixing device had the telescopic link of rubber contact through two upper and lower electronic poles and two left and right electronic poles stretch out respectively, exerted suitable pressure to the unmanned aerial vehicle organism to play reinforced unmanned aerial vehicle's effect. Each electric rod is provided with at least one telescopic rod with a rubber contact, so that the safety and stability of the unmanned aerial vehicle in the carrying process are ensured. The wireless charging device is a large coil, and the charging efficiency is ensured by centering after the airplane lands. The buffering and damping device consists of a damping pad and dampers at four corners, and reduces collision and abrasion to the machine body caused by bumping during transportation.
Further, the stand-alone machine further comprises a fixing device, and the fixing device comprises: a left upright pole, a right upright pole and an upper clamping rod;
the vertical rods and the upper clamping rod are respectively provided with at least one telescopic rod, the head parts of the telescopic rods are provided with rubber contacts, and the top end of one of the two vertical rods is provided with a fixed vertical rod and an upper clamping rod fixing buckle;
the top end of the other upright post is connected and fixed with the upright post and the upper clamping rod through a hinge;
flexible dead lever passes through the rubber contact pressurization, right portable rotor unmanned aerial vehicle organism is implemented fixedly.
Further, unmanned aerial vehicle charging device adopts wired or wireless charging device, charges for the unmanned aerial vehicle of this position under unmanned aerial vehicle parking state.
Further, the central control system sends an instruction to the selected independent aircraft position through a remote control network, the communication device of the independent aircraft position receives the instruction, a control signal corresponding to the instruction is sent to the control device of the independent aircraft position after the instruction is decoded, and the control device sends the control signal to the independent aircraft position driving mechanism to realize one-key takeoff of the mobile rotor unmanned aerial vehicle.
Further, an infrared signal emitter is installed at the bottom of the mobile rotor unmanned aerial vehicle, the mobile rotor unmanned aerial vehicle is provided with different infrared signal pulse widths or duty ratios according to the number of the parking places, and infrared cameras are arranged on the parking place plates of the independent parking places; identifying the mobile rotor unmanned aerial vehicle corresponding to the current independent aircraft position by reading the pulse width or duty ratio of an infrared signal transmitted by an infrared signal transmitter on the unmanned aerial vehicle;
central control system is based on installing the infrared signal of the infrared signal transmitter transmission of portable rotor unmanned aerial vehicle bottom judges portable rotor unmanned aerial vehicle with the relative position deviation of air park board, thereby the guide portable rotor unmanned aerial vehicle realizes accurate descending.
Further, the hangar includes a drone recovery system, the drone recovery system including: the device comprises an infrared transmitting module, an infrared receiving module and a radio communication module;
the infrared emission module is arranged on a base platform of the independent machine position;
the infrared emission module includes: the infrared ray controlled by the singlechip is coded and sent according to a preset pseudo-random code sequence;
an infrared receiving module on the mobile rotor unmanned aerial vehicle receives the signal of the infrared transmitting module and executes signal decoding, and a signal source and the position of the signal source are determined according to the decoded signal;
the wireless communication module is in including setting up two wireless communication machines of portable rotor unmanned aerial vehicle end and affiliated independent aircraft position end for the base of affiliated independent aircraft position with communication between the portable rotor unmanned aerial vehicle.
Furthermore, the hangar still is equipped with the location basic station to install positioning sensor at portable rotor unmanned aerial vehicle.
Further, the hangar is in real-time communication connection with the mobile rotor unmanned aerial vehicle through a central control system;
the central control system has the functions of task tracking, task planning, observation and driving; the operator passes through central control system's uplink to portable rotor unmanned aerial vehicle sends the instruction, portable rotor unmanned aerial vehicle returns corresponding data to the operator through the downlink.
The central control system has the functions of task tracking, task planning, observation and driving. The communication subsystem mainly comprises an uplink and a downlink and is mainly used for giving instructions to the unmanned aerial vehicle by an operator and returning task data, images and other information to the operator by the unmanned aerial vehicle. And the operator sends an instruction to the unmanned aerial vehicle through the communication subsystem in the system control room. The drone data link is typically made up of Radio Frequency (RF) transmitters and receivers, antennas, and modems that connect these components together using sensors. The uplink supports commands and controls from the operator to the drone (swarm), and the downlink is used to return mission data such as payload data, flight status, and images from the drone (swarm) to the central control system and other receiving devices. For data transmission, the main platform is connected with various machine body cloud networks to perform task allocation planning, and a remote desktop is used for performing program design and the like.
Loading platform can expand automatically, makes things convenient for miniature unmanned aerial vehicle key to take off, and operating personnel can send the instruction to unmanned aerial vehicle system through loading platform front end center control system, and opening and closing of guide hangar side door and overhead door realizes that unmanned aerial vehicle loading platform is independent or holistic flexible and retrieve. When a corresponding unmanned aerial vehicle is required to execute a task, the remote control system can also be used for sending an instruction to a corresponding station, the station communication device receives the instruction and sends a corresponding control signal to the controller, and the controller sends the corresponding control signal to the base driving mechanism, so that one-key takeoff operation of the unmanned aerial vehicle is realized. Rotor unmanned aerial vehicle can conveniently retrieve after returning.
The central control system includes: unmanned aerial vehicle flight control platform, payload are kept watch on and the control cabinet, with portable rotor unmanned aerial vehicle communicates communication subsystem, is used for keeping watch on portable rotor unmanned aerial vehicle state and flight path's navigation display screen, recorder and payload measurement's display screen, map display screen and central computer.
Loading platform can expand automatically, makes things convenient for miniature unmanned aerial vehicle key to take off, and operating personnel can send the instruction to unmanned aerial vehicle system through loading platform front end center control system, and opening and closing of guide hangar side door and overhead door realizes that unmanned aerial vehicle loading platform is independent or holistic flexible and retrieve. When a corresponding unmanned aerial vehicle is required to execute a task, the remote control system can also be used for sending an instruction to a corresponding station, the station communication device receives the instruction and sends a corresponding control signal to the controller, and the controller sends the corresponding control signal to the base driving mechanism, so that one-key takeoff operation of the unmanned aerial vehicle is realized. Rotor unmanned aerial vehicle can conveniently retrieve after returning.
The first scheme comprises the following steps: traditional image location receives the restriction of weather condition easily, so at every unmanned aerial vehicle bottom installation infrared emitter, every aircraft sets up different pulse width or duty cycle according to the aircraft stand number, corresponding platform passes through infrared camera and only discerns corresponding infrared ray, scratch out into a point this light when image processing, judge the relative position deviation with the airport apron according to this point, transmit the control system for unmanned aerial vehicle through cloud network, even can do the guide at night like this. Moreover, still be equipped with four location basic stations on the car, only need load on positioning sensor at unmanned aerial vehicle, the accuracy of guide when just can improving the aircraft landing greatly.
Scheme II: vehicle-mounted rotor unmanned aerial vehicle recovery system includes infrared emission module, infrared receiving module and radio communication module. The infrared emission module is arranged on a base platform of the parking position and comprises a single chip microcomputer control circuit and an infrared emission driving circuit, and the single chip microcomputer can encode the emitted infrared light according to a certain pseudo-random code sequence and send the infrared light out. The infrared receiving module is responsible for receiving infrared signals and decoding the signals according to an appointed pseudo-random code sequence so as to determine the source and the position of the received signals. The wireless communication module comprises an unmanned aerial vehicle end and a stop position end, so that the communication process between the stop position end and the unmanned aerial vehicle can be realized, and the unmanned aerial vehicle can be assisted to land by mutually transmitting instruction data. The system can efficiently realize accurate landing of the rotor unmanned aerial vehicle, has strong reliability, can prevent wireless malicious interception, and enhances flight safety.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention and not for limiting, and although the embodiments of the present invention are described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the embodiments of the present invention without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A mobile rotor unmanned aerial vehicle swarm hangar is characterized in that the hangar is arranged on a wheel type maneuvering carrying platform, a container is taken as a main body, the hangar comprises a plurality of layers of loading platforms, and each layer of loading platform is provided with a plurality of independent machine positions for parking the mobile rotor unmanned aerial vehicles; the hangar further comprises: the central control system, the left side door, the right side door, the top side door and the middle partition plate;
each independent station is provided with an independent drawer type telescopic device for taking off and recovering the mobile rotor unmanned aerial vehicle;
each independent machine position is provided with a square base, and the square bases have the functions of stopping, charging and data transmission;
the container is provided with the top side door the left side door with right side door, the side door pass through the hinge with container bottom plate or intermediate bottom links, and can open simultaneously under central control system's control.
2. The mobile rotary wing drone swarm hangar of claim 1, wherein:
the independent drawer type telescopic devices complete the extension and retraction of a single layer of loading platform or the integral simultaneous extension and retraction of a plurality of layers of loading platforms under the control of the central control system;
the mobile rotor unmanned aerial vehicle of the loading platform on the uppermost layer can take off and recover through the top side door;
and the rest layers of the loading platforms are expanded in a stepped manner according to task requirements so as to finish the take-off and recovery of any one mobile rotor unmanned aerial vehicle.
3. The mobile rotary wing drone swarm hangar of claim 2, characterized in that:
the stand platform of independent position includes from last to down: the centering device, the apron plate, the charging device, the buffering and damping device and the telescopic device are arranged on the apron plate; the buffer damping device consists of an integral damping pad of the apron plate and dampers on four corners of the apron plate;
the centering device comprises: the left side and the right side of the parking apron plate are respectively provided with two straight rods, and the two straight rods are connected with two cross rods at the upper ends of the corresponding straight rods on the left side and the right side so as to form two door-shaped frames, the height of each cross rod can be adjusted, and the cross rods are respectively named as an upper electric rod and a lower electric rod;
the upper electric rod and the lower electric rod are respectively provided with two circular bulges, and the positions of the bulges can be adjusted;
when the mobile rotor unmanned aerial vehicle successfully lands, the two door-shaped frames of the centering device are symmetrically and inwards closed under the control of the central control system so as to push the mobile rotor unmanned aerial vehicle to return to the middle position of the apron plate;
when the mobile rotor unmanned aerial vehicle returns to the middle position of the parking apron plate, the two door-shaped frame cross rods rise back to the preset height and are further drawn close inwards at the same time, so that the mobile rotor unmanned aerial vehicle is buckled.
4. The mobile rotary wing drone swarm hangar of claim 3,
the stand-alone stand further comprises a fixing device, the fixing device comprising: a left upright pole, a right upright pole and an upper clamping rod;
the vertical rods and the upper clamping rod are respectively provided with at least one telescopic rod, the head parts of the telescopic rods are provided with rubber contacts, and the top end of one of the two vertical rods is provided with a fixed vertical rod and an upper clamping rod fixing buckle;
the top end of the other upright post is connected and fixed with the upright post and the upper clamping rod through a hinge;
flexible dead lever passes through the rubber contact pressurization, and is right portable rotor unmanned aerial vehicle organism is implemented fixedly.
5. The bee colony hangar for mobile rotor unmanned aerial vehicles according to claim 3, wherein the charging device for unmanned aerial vehicles is a wired or wireless charging device for charging the unmanned aerial vehicles at the station in the parked state of the unmanned aerial vehicles.
6. The mobile unmanned rotorcraft swarm hangar of claim 1, wherein the central control system remotely controls the network to send commands to the selected individual positions, the communication device of the individual positions receives the commands, and after decoding the commands, the communication device sends control signals corresponding to the commands to the control device of the individual positions, and the control device sends the control signals to the individual position driving mechanism to realize one-key takeoff of the mobile unmanned rotorcraft.
7. The mobile rotor unmanned aerial vehicle swarm hangar of claim 6, wherein an infrared signal transmitter is installed at the bottom of the mobile rotor unmanned aerial vehicle, the mobile rotor unmanned aerial vehicle sets different infrared signal pulse widths or duty ratios according to the number of the stand, and an infrared camera is arranged at the apron plate of the independent stand; identifying the mobile rotor unmanned aerial vehicle corresponding to the current independent aircraft position by reading the pulse width or duty ratio of an infrared signal transmitted by an infrared signal transmitter on the unmanned aerial vehicle;
central control system is based on installing the infrared signal of the infrared signal transmitter transmission of portable rotor unmanned aerial vehicle bottom judges portable rotor unmanned aerial vehicle with the relative position deviation of air park board, thereby the guide portable rotor unmanned aerial vehicle realizes accurate descending.
8. The mobile rotary wing drone swarm hangar of claim 6, wherein said hangar includes a drone recovery system, said drone recovery system comprising: the device comprises an infrared transmitting module, an infrared receiving module and a radio communication module;
the infrared emission module is arranged on a base platform of the independent machine position;
the infrared emission module includes: the infrared ray controlled by the single chip microcomputer is coded and sent according to a preset pseudo random code sequence;
an infrared receiving module on the mobile rotor unmanned aerial vehicle receives the signal of the infrared transmitting module and executes signal decoding, and a signal source and the position of the signal source are determined according to the decoded signal;
the wireless communication module is in including setting up two wireless communication machines of portable rotor unmanned aerial vehicle end and affiliated independent position end for the base of affiliated independent position with communication between the portable rotor unmanned aerial vehicle.
9. The mobile rotary-wing drone swarm hangar of claim 1, wherein the hangar is further equipped with a positioning base station and positioning sensors on the mobile rotary-wing drone.
10. The mobile rotor drone swarm hangar of claim 1, wherein the hangar is in real-time communication with the mobile rotor drone through a central control system;
the central control system has the functions of task tracking, task planning, observation and driving; an operator sends an instruction to the mobile rotor unmanned aerial vehicle through an uplink of the central control system, and the mobile rotor unmanned aerial vehicle returns corresponding data to the operator through a downlink;
the central control system includes: unmanned aerial vehicle flight control platform, payload are kept watch on and the control cabinet, with portable rotor unmanned aerial vehicle communicates communication subsystem, is used for keeping watch on portable rotor unmanned aerial vehicle state and flight path's navigation display screen, recorder and payload measurement's display screen, map display screen and central computer.
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