CN114889761A - 一种无人机自主投放与回收系统 - Google Patents
一种无人机自主投放与回收系统 Download PDFInfo
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- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
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- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/50—Vessels or floating structures for aircraft
- B63B35/52—Nets, slipways or the like, for recovering aircraft from the water
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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
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- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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Abstract
本发明提供一种无人机自主投放与回收系统,属于无人机技术领域。该系统包括稳定平台以及设置于稳定平台上的机械臂和电池及载荷舱。稳定平台包括底座、液压油缸和电磁吸盘。底座设置于无人艇上,并与液压油缸的下端铰接,电磁吸盘与液压油缸的上端球铰接;机械臂和电池及载荷舱安装于电磁吸盘上。本发明集合了投放回收功能、电池及载荷更换功能,系统集成度高;完全自主,无需人工干预;具有运动补偿和电磁吸盘功能,解决了高海况条件下无人机的回收难题;能够快速更换无人机的电池和载荷,提高了无人机重复使用效率。
Description
技术领域
本发明属于无人机技术领域,用于实现无人机在无人艇上的自主投放与回收、无人机电池与载荷的更换,增强无人机的续航能力和重复使用效率。
背景技术
无人技术发展越来越快,各种类型的无人装备蓬勃发展,无人机和无人艇技术成熟,在民用和军事领域应用广泛。无人艇平台搭载能力和续航能力强,无人机速度快、能够突破水域和陆地限制,两者结合应用可发挥各自优势,效果显著。无人机与无人艇的联合使用,需要解决无人机在无人艇上的投放与回收的问题,但是目前还没有非常成熟的方案,主要存在以下问题:一是高海况条件下,无人机回收难度大。不同于无人机陆上起降,海上无人艇平台存在横摇、纵摇和升沉三个维度的运动,极大增加了无人机回收难度;二是无人机电池与载荷更换暂无有效解决措施,无人机回收后,如果能快速更换电池和载荷,无人机可反复使用,极大提升使用效率,但目前暂无有效解决方案。
发明内容
本发明旨在解决高海况条件下无人机在无人艇上的自主投放与回收、电池与载荷自主更换难题。提供一种无人机自主投放与回收系统,该无人机自主投放与回收系统无需人工干预,能够完全自主完成无人机投放、回收以及更换电池或载荷,为无人机在无人艇上的应用奠定了基础。能够根据无人艇的运动进行补偿,并加装了电磁吸盘,无人机无需和回收系统完全接触,即可回收,同时电磁吸盘能够固定无人机,对无人机降落的位置精度要求更低,解决了高海况条件下无人机的回收难题。采用机械手臂更换无人机的电池和载荷,提高了无人机重复使用效率。
本发明的技术方案:
一种无人机自主投放与回收系统,所述的无人机自主投放与回收系统包括稳定平台1以及设置于稳定平台1上的机械臂2和电池载荷舱3。
所述的稳定平台1包括底座4、液压油缸5和电磁吸盘6。所述的底座4设置于无人艇上,用于承载无人机投放与回收系统,并与液压油缸5的下端铰接,电磁吸盘6与液压油缸5的上端球铰接。液压油缸5用于调节电磁吸盘6的姿态,补偿无人艇的运动,方便无人机投放与回收。电磁吸盘6作为无人机的承载平台,通过通电和断电实现电磁力的产生与消失,达到固定和释放无人机的功能。
所述的机械臂2和电池载荷舱3安装于电磁吸盘6上。机械臂2用于判断无人机的准确位置,并更换无人机的电池和载荷。电池载荷舱3用于收纳无人机的电池和载荷,并对电池进行充电。
进一步地,所述的电磁吸盘6的表面涂装特定图像,方便无人机图像识别。
进一步地,所述的机械臂2、电池载荷舱3、液压油缸5和电磁吸盘6均与控制系统相连。
本发明的有益效果:
(1)集合了投放回收功能、电池及载荷更换功能,系统集成度高;
(2)完全自主,无需人工干预;
(3)具有运动补偿和电磁吸盘功能,解决了高海况条件下无人机的回收难题;
(4)能够快速更换无人机的电池和载荷,提高了无人机重复使用效率。
附图说明
图1为无人机自主投放与回收系统示意图。
图2为稳定平台示意图。
图中:1稳定平台;2机械臂;3电池及载荷舱;4底座;5液压油缸;6电磁吸盘。
具体实施方式
以下结合附图对本发明的技术方案进行进一步说明。
无人机回收时,无人机根据卫星定位信息和电磁吸盘6上的图像信息进行定位,靠近电磁吸盘6,控制系统根据无人艇晃动情况,控制液压油缸5调整电磁吸盘6的姿态,确保电磁吸盘6达到水平状态,当无人机靠近电磁吸盘6后,控制系统控制电磁吸盘6通电,依靠电磁吸盘6的电磁力和无人机的位置调整,吸住无人机,控制系统通过视觉信息判断无人机的位置,控制机械臂2拆卸无人机的电池和载荷,将其放到电池载荷舱3中,将电池载荷舱3中的新电池或载荷安装到无人机上,此时无人机达到起飞状态。
无人机投放时,控制系统根据无人艇晃动情况,控制液压油缸5调整电磁吸盘6的姿态,确保电磁吸盘6达到水平状态,电磁吸盘6断电,无人机起飞。
Claims (3)
1.一种无人机自主投放与回收系统,其特征在于,所述的无人机自主投放与回收系统包括稳定平台(1)以及设置于稳定平台(1)上的机械臂(2)和电池载荷舱(3);
所述的稳定平台(1)包括底座(4)、液压油缸(5)和电磁吸盘(6);所述的底座(4)设置于无人艇上,用于承载无人机投放与回收系统,并与液压油缸(5)的下端铰接,电磁吸盘(6)与液压油缸(5)的上端球铰接;液压油缸(5)用于调节电磁吸盘(6)的姿态,补偿无人艇的运动,方便无人机投放与回收;电磁吸盘(6)作为无人机的承载平台,通过通电和断电实现电磁力的产生与消失,达到固定和释放无人机的功能;
所述的机械臂(2)和电池载荷舱(3)安装于电磁吸盘(6)上;机械臂(2)用于判断无人机的准确位置,并更换无人机的电池和载荷;电池载荷舱(3)用于收纳无人机的电池和载荷,并对电池进行充电。
2.根据权利要求1所述的一种无人机自主投放与回收系统,其特征在于,所述的电磁吸盘(6)的表面涂装特定图像,方便无人机图像识别。
3.根据权利要求1所述的一种无人机自主投放与回收系统,其特征在于,所述的机械臂(2)、电池载荷舱(3)、液压油缸(5)和电磁吸盘(6)均与控制系统相连。
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CN113955031A (zh) * | 2021-11-22 | 2022-01-21 | 江苏科技大学 | 一种用于无人艇的无人机存放机构及使用方法 |
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WO2017138803A1 (ko) * | 2016-02-13 | 2017-08-17 | 김성호 | 방제용기와 배터리를 일체형으로 갖춘 무인항공기의 자동교체시스템 |
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