CN115610688A - Full-automatic unmanned on duty airport - Google Patents

Full-automatic unmanned on duty airport Download PDF

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Publication number
CN115610688A
CN115610688A CN202211344652.8A CN202211344652A CN115610688A CN 115610688 A CN115610688 A CN 115610688A CN 202211344652 A CN202211344652 A CN 202211344652A CN 115610688 A CN115610688 A CN 115610688A
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CN
China
Prior art keywords
cabin
unmanned aerial
aerial vehicle
airport
driving mechanism
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211344652.8A
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Chinese (zh)
Inventor
何玉庆
杨丽英
黄朝雄
牛志伟
刘俊爽
常彦春
李思梁
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Application filed by Shenyang Institute of Automation of CAS filed Critical Shenyang Institute of Automation of CAS
Priority to CN202211344652.8A priority Critical patent/CN115610688A/en
Publication of CN115610688A publication Critical patent/CN115610688A/en
Pending legal-status Critical Current

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    • 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
    • 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
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • 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
    • 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
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • 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
    • 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
    • B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
    • B64F1/125—Mooring or ground handling devices for helicopters
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
    • E05F15/652—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings operated by screw-and-nut mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F3/00—Air-conditioning systems in which conditioned primary air is supplied from one or more central stations to distributing units in the rooms or spaces where it may receive secondary treatment; Apparatus specially designed for such systems
    • F24F3/12—Air-conditioning systems in which conditioned primary air is supplied from one or more central stations to distributing units in the rooms or spaces where it may receive secondary treatment; Apparatus specially designed for such systems characterised by the treatment of the air otherwise than by heating and cooling
    • F24F3/14—Air-conditioning systems in which conditioned primary air is supplied from one or more central stations to distributing units in the rooms or spaces where it may receive secondary treatment; Apparatus specially designed for such systems characterised by the treatment of the air otherwise than by heating and cooling by humidification; by dehumidification
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F5/00—Air-conditioning systems or apparatus not covered by F24F1/00 or F24F3/00, e.g. using solar heat or combined with household units such as an oven or water heater
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/50—Service provisioning or reconfiguring
    • 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
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/13—Type of wing
    • E05Y2900/132—Doors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F2110/00—Control inputs relating to air properties
    • F24F2110/10—Temperature
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F2110/00—Control inputs relating to air properties
    • F24F2110/20—Humidity
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a full-automatic unattended airport device. The unmanned aerial vehicle airport comprises an unmanned aerial vehicle airport body, and an industrial personal computer, an environment detection system and a charging system which are arranged in the unmanned aerial vehicle airport body, wherein the unmanned aerial vehicle airport body comprises a cabin, a cabin door mechanism which is arranged at the top of the cabin and can be opened and closed, and a lifting positioning platform which is arranged in the cabin; the environment detection system is used for detecting environmental parameters inside the engine room; the charging system is used for completing the charging of the unmanned aerial vehicle; the industrial personal computer is used for controlling the cabin door mechanism, the lifting positioning platform, the charging system and the environment monitoring system, and is communicated with the remote control center to realize remote control. The unmanned aerial vehicle power switching system can automatically switch power for the unmanned aerial vehicle and provide simple maintenance, and meanwhile, real-time monitoring and updating can be carried out through the remote control center, so that the automatic power switching efficiency of the unmanned aerial vehicle is effectively improved, the field operation time of the unmanned aerial vehicle is prolonged, and the field operation capability of the unmanned aerial vehicle is improved.

Description

Full-automatic unmanned on duty airport
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a full-automatic unattended airport.
Background
In recent years, with the development of 5G communication technology, GPS positioning system and automatic control technology, many rotor unmanned aerial vehicles develop rapidly. Compare in fixed wing unmanned aerial vehicle, many rotor unmanned aerial vehicle receive people's extensive attention with its mobility and flexibility. The system is widely applied to occasions needing long-time unmanned inspection, such as ecological environment monitoring, forest fire early warning prevention and control, high-voltage transmission line safety detection and the like. Along with the improvement of cost of labor, an intelligent unmanned aerial vehicle airport system who has information interaction, environmental monitoring function is indispensable.
Through investigation, the current unmanned aerial vehicle airport system mainly adopts controllers such as singlechip to control. This is to the large-scale photovoltaic farm that needs many unmanned aerial vehicles collaborative work and need carry out a large amount of visual information processing, and the efficiency that unmanned aerial vehicle charges and the stability at unmanned aerial vehicle airport are difficult to guarantee. The industrial personal computer is used as the controller, so that the visual information can be processed in time, and the internal state information of the cabin can be processed efficiently. The system can improve the power conversion efficiency of the unmanned aerial vehicle, enhances the robustness of the airport system, and can greatly facilitate the later maintenance of equipment. Therefore, there is a need for improvements in the prior art.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a full-automatic unattended airport to solve the problems of excessive complexity, weak information interaction capability, low working efficiency and the like of the conventional unmanned airport.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a full-automatic unattended airport, which comprises:
the unmanned aerial vehicle airport body comprises a cabin, an openable cabin door mechanism arranged on the top of the cabin and a lifting positioning platform arranged inside the cabin;
the environment detection system is arranged in the engine room and used for detecting environmental parameters inside the engine room;
the charging system is arranged in the cabin and used for completing the charging of the unmanned aerial vehicle;
and the industrial personal computer is used for controlling the cabin door mechanism, the lifting positioning platform, the charging system and the environment monitoring system, and is communicated with the remote control center to realize remote control.
The remote control center is connected with a ground base station closest to the full-automatic unattended airport through optical fibers; and the ground base station performs information interaction with a communication module on the industrial personal computer in a 5G communication mode, and performs airport control parameter online modification through a U I interface of a remote control center.
The environment detection system comprises a temperature regulation system and a humidity regulation system;
the temperature adjusting system comprises a temperature sensor and an electric fan, wherein the temperature sensor is used for detecting temperature information in the cabin and outputting the temperature information; the industrial personal computer controls the electric fan according to temperature information detected by the temperature sensor so as to adjust the temperature in the engine room;
the humidity adjusting system comprises a humidity sensor and a heating rod, wherein the humidity sensor is used for detecting and outputting humidity information in the cabin; the industrial personal computer controls the heating rod according to humidity information detected by the humidity sensor so as to adjust the humidity in the engine room.
The charging system comprises a binocular camera, a mechanical arm and a charging device, wherein the charging device is used for charging the unmanned aerial vehicle; the mechanical arm is controlled by the industrial personal computer and is used for completing battery replacement and charging processes; the binocular camera is used for obtaining information of a battery on the unmanned aerial vehicle body and the battery in the charging device and outputting the information.
The cabin door mechanism comprises a front cabin door, a front cabin door driving mechanism, a rear cabin door and a rear cabin door driving mechanism, wherein the front cabin door and the rear cabin door are arranged on the front side and the rear side of the top of the cabin in a sliding manner, the front cabin door driving mechanism and the rear cabin door driving mechanism are arranged on the top of the cabin and are respectively connected with the front cabin door and the rear cabin door, and the front cabin door driving mechanism and the rear cabin door driving mechanism can respectively drive the front cabin door and the rear cabin door to be opened or closed.
The front cabin door driving mechanism comprises a connecting rod I, a lead screw sliding table assembly I and a connecting rod II, wherein the connecting rod I and the connecting rod II are arranged at the top of the cabin along the left-right direction;
the rear cabin door driving mechanism comprises a connecting rod III, a screw rod sliding table assembly II and a connecting rod IV, wherein the connecting rod III and the connecting rod IV are arranged at the top of the cabin along the left-right direction, and the screw rod sliding table assembly II is arranged on the connecting rod III and the connecting rod IV and outputs power along the front-back direction; and the rear cabin door is connected with the output end of the screw rod sliding table assembly II.
The lifting positioning platform comprises a left lifting driving mechanism, a right lifting driving mechanism, a lifting platform and a fixture device, wherein the left lifting driving mechanism and the right lifting driving mechanism are arranged on the left side and the right side of the inner wall of the cabin, the output end of the left lifting driving mechanism and the output end of the right lifting driving mechanism are connected with the lifting platform, and the fixture device is arranged at the top of the lifting platform and used for positioning the unmanned aerial vehicle.
The clamping device comprises a clamping device a, a clamping device b, a clamping device c and a clamping device d which are uniformly distributed along the circumferential direction;
the fixture device a, the fixture device b, the fixture device c and the fixture device d are identical in structure and respectively comprise a lead screw sliding table assembly and positioning rods arranged at the output end of the lead screw sliding table assembly, and the four positioning rods form a direction positioning frame.
The left lifting driving mechanism comprises a vertically arranged screw rod sliding table assembly III and a metal sheet m connected with the output end of the screw rod sliding table assembly III;
the right lifting driving mechanism comprises a vertically arranged lead screw sliding table assembly IV and a metal sheet n connected with the output end of the lead screw sliding table assembly IV;
the metal sheet m and the metal sheet n are connected with the left side and the right side of the lifting platform.
The cabin door mechanism, the lifting platform and the clamp device are all provided with limit switches, and the limit switches can obtain and output state information of the cabin door mechanism, the lifting platform and the clamp device.
The invention has the advantages and beneficial effects that: the invention improves the intelligence and remote operation capability of the unmanned airport, and achieves the purposes of rapid deployment and improvement of regional operation capability.
The invention provides an intelligent airport control system for an unmanned aerial vehicle, which can be used for parking, charging, data exchange and the like of the unmanned aerial vehicle. Airport control system highly integrates, and the wiring is simple, can in time maintain according to airport internal and external environment and unmanned aerial vehicle's state, and the complete automatic operation of whole process has improved the uniformity and the stability of unmanned aerial vehicle operating efficiency and data, has reduced system maintenance cost and artificial intervention's uncertainty, realizes unmanned aerial vehicle autonomous operation under the completely unmanned condition.
Drawings
FIG. 1 is a block diagram of a control system for a fully automated unmanned airport according to the present invention;
FIG. 2 is an isometric view of a fully automated unmanned airport of the present invention;
FIG. 3 is a front view of a fully automated unmanned airport of the present invention;
FIG. 4 is a left side view of FIG. 3;
FIG. 5 is a schematic view of the left elevating driving mechanism of the present invention;
FIG. 6 is a top view of FIG. 2;
FIG. 7 is a schematic view of the clamping device of the present invention;
FIG. 8 is a block diagram of a control flow for a fully automated unmanned airport according to the present invention;
in the figure: 1 is a front cabin door, 2 is a connecting rod I, 3 is a lead screw sliding table assembly I, 4 is a connecting rod II, 5 is a lifting platform, 6 is a lead screw sliding table assembly II, 7 is a connecting rod III, 8 is a lead screw sliding table assembly III, 9 is a connecting rod IV, 10 is a rear cabin door, 11 is a cabin, 12 is a clamp device, 121 is a clamp device a,1211 is a lead screw sliding table assembly V, 1212 is a positioning rod I, 122 is a clamp device b,1221 is a lead screw sliding table assembly VI, 1222 is a positioning rod II, 123 is a clamp device c,1231 is a lead screw sliding table assembly VII, 1232 is a positioning rod III, 124 is a clamp device d,1241 is a lead screw sliding table assembly VIII, 1242 is a positioning rod VI, 13 is a lead screw sliding table assembly IV, 14 is a metal sheet m, and 15 is a metal sheet n.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 and 2, the full-automatic unattended airport provided by the invention comprises an unmanned aerial vehicle airport body, an industrial personal computer, an environment detection system and a charging system, wherein the industrial personal computer, the environment detection system and the charging system are arranged in the unmanned aerial vehicle airport body, and the unmanned aerial vehicle airport body comprises a cabin 11, a cabin door mechanism which is arranged at the top of the cabin 11 and can be opened and closed, and a lifting positioning platform which is arranged inside the cabin 11; the environment detection system is used for detecting environmental parameters inside the cabin 11; the charging system is used for completing charging of the unmanned aerial vehicle; the industrial personal computer is used for controlling the cabin door mechanism, the lifting positioning platform, the charging system and the environment monitoring system, and is communicated with the remote control center to realize remote control.
In the embodiment of the invention, a remote control center is connected with a ground base station closest to a full-automatic unattended airport through an optical fiber; and the ground base station performs information interaction with a communication module on the industrial personal computer in a 5G communication mode, and performs online modification on airport control parameters through a U I interface of the remote control center.
In an embodiment of the invention, the environment detection system comprises a temperature regulation system and a humidity regulation system; the temperature adjusting system comprises a temperature sensor and an electric fan, wherein the temperature sensor is used for detecting and outputting temperature information in the cabin 11; the industrial personal computer controls the electric fan according to the temperature information detected by the temperature sensor so as to adjust the temperature in the cabin 11. The humidity adjusting system comprises a humidity sensor and a heating rod, wherein the humidity sensor is used for detecting and outputting humidity information in the cabin 11; the industrial personal computer controls the heating rod according to the humidity information detected by the humidity sensor so as to adjust the humidity in the cabin 11. Meanwhile, an alarm device is arranged, and when the temperature and the humidity in the cabin 11 are abnormal, signals are transmitted to the industrial personal computer in time and alarm prompt tones are sent out.
In the embodiment of the invention, the charging system comprises a binocular camera, a mechanical arm and a charging device, wherein the charging device is used for charging the unmanned aerial vehicle; the mechanical arm is controlled by an industrial personal computer and is used for completing battery replacement and charging procedures; the binocular camera is used for obtaining information of a battery on the unmanned aerial vehicle body and the battery in the charging device and outputting the information.
As shown in fig. 2 to 6, in an embodiment of the present invention, the door mechanism includes a front door 1, a front door driving mechanism, a rear door 10, and a rear door driving mechanism, wherein the front door 1 and the rear door 10 are slidably disposed at front and rear sides of a top of the cabin 11, the front door driving mechanism and the rear door driving mechanism are disposed at the top of the cabin 11 and are respectively connected to the front door 1 and the rear door 10, and the front door driving mechanism and the rear door driving mechanism can respectively drive the front door 1 and the rear door 10 to open or close.
As shown in fig. 2 and 6, in the embodiment of the present invention, the front hatch driving mechanism includes a connecting rod i 2, a screw sliding table assembly i 3 and a connecting rod ii 4, wherein the connecting rod i 2 and the connecting rod ii 4 are disposed at the top of the cabin 11 along the left-right direction, and the screw sliding table assembly i 3 is mounted on the connecting rod i 2 and the connecting rod ii 4 and outputs power along the front-back direction. The middle part of the front cabin door 1 is connected with the output end of the screw rod sliding table assembly I3, and the left side and the right side of the front cabin door 1 are respectively connected with the top of the cabin 11 in a sliding mode. The rear cabin door driving mechanism comprises a connecting rod III 7, a screw rod sliding table assembly II 6 and a connecting rod IV 9, wherein the connecting rod III 7 and the connecting rod IV 9 are arranged at the top of the cabin 11 along the left-right direction, and the screw rod sliding table assembly II 6 is arranged on the connecting rod III 7 and the connecting rod IV 9 and outputs power along the front-back direction; the middle part of the rear cabin door 10 is connected with the output end of the screw rod sliding table assembly II 6, and the left side and the right side of the rear cabin door 10 are connected with the top of the cabin 11 in a sliding mode. The screw rod sliding table assembly I3 and the screw rod sliding table assembly II 6 respectively drive the front cabin door 1 and the rear cabin door 10 to be opened or closed synchronously.
Specifically, a sliding groove is reserved at the joint of the front cabin door 1 and the rear cabin door 10 and the cabin 11 for the movement of a pulley on the cabin door.
As shown in fig. 3 to 5, in an embodiment of the present invention, the lifting and positioning platform includes a left lifting driving mechanism, a right lifting driving mechanism, a lifting platform 5 and a fixture device 12, where the left lifting driving mechanism and the right lifting driving mechanism are disposed on the left and right sides inside the cabin 11, output ends of the left lifting driving mechanism and the right lifting driving mechanism are connected to the lifting platform 5, and the fixture device 12 is disposed on the top of the lifting platform 5 and is used for positioning the unmanned aerial vehicle.
In the embodiment of the invention, the left lifting driving mechanism comprises a vertically arranged screw rod sliding table assembly III 8 and a metal sheet m14 connected with the output end of the screw rod sliding table assembly III 8; the right lifting driving mechanism comprises a vertically arranged lead screw sliding table assembly IV 13 and a metal sheet n15 connected with the output end of the lead screw sliding table assembly IV 13; the metal sheet m14 and the metal sheet n15 are connected to the left and right sides of the elevating platform 5. The screw rod sliding table assembly IV 13 and the screw rod sliding table assembly IV 13 synchronously drive the lifting platform 5 to perform lifting action. After the system confirms that the cabin door is completely opened, the screw rod sliding table assembly III 8 and the screw rod sliding table assembly IV 13 move the lifting platform 5 to the topmost end, and meanwhile, state information is sent to the system.
In this embodiment, the lifting platform 5 has a square structure, the side length of the lifting platform is consistent with the internal width of the cabin 11, and the whole lifting platform 5 is driven by two lead screw sliding table assemblies. Specifically, the left side of cabin 11 links firmly connecting rod V and the connecting rod VI of laying horizontally, and connecting rod V and connecting rod VI set up the interval from top to bottom, and lead screw slip table subassembly III 8 sets firmly on connecting rod V and connecting rod VI. The right side of cabin 11 links firmly connecting rod VII and the connecting rod VIII of laying horizontally, and connecting rod VII and connecting rod VIII interval set up from top to bottom, and lead screw slip table subassembly IV 13 sets firmly on connecting rod VII and connecting rod VIII, and lead screw slip table subassembly III 8 and lead screw slip table subassembly IV 13 synchronous motion drive lift platform 5 at same horizontal plane motion.
As shown in fig. 7, in the embodiment of the present invention, the clamping device 12 includes a clamping device a121, a clamping device b122, a clamping device c123 and a clamping device d124 which are uniformly distributed along the circumferential direction; the fixture device a121, the fixture device b122, the fixture device c123 and the fixture device d124 are identical in structure and respectively comprise a lead screw sliding table assembly and positioning rods arranged at the output end of the lead screw sliding table assembly, and the four positioning rods form a direction positioning frame.
Specifically, the clamping device a121 and the clamping device d124 are symmetrically arranged along the front-back direction, the clamping device a121 comprises a lead screw sliding table assembly V1211 and a positioning rod I1212 arranged at the output end of the lead screw sliding table assembly V1211, and the positioning rod I1212 is arranged along the left-right direction; the fixture device d124 comprises a lead screw sliding table assembly VIII 1241 and a positioning rod VI 1242 arranged at the output end of the lead screw sliding table assembly VIII 1241, and the positioning rod VI 1242 is parallel to the positioning rod I1212. Lead screw slip table subassembly V1211 and lead screw slip table subassembly VIII 1241 drive locating lever I1212 and locating lever VI 1242 respectively advance line location to unmanned aerial vehicle in the front and back direction.
Fixture device b122 and fixture device c123 set up along left right direction symmetry, and fixture device b122 includes lead screw slip table subassembly VI 1221 and sets up in II 1222 of locating lever of lead screw slip table subassembly VI 1221 output, and II 1222 of locating lever set up along the fore-and-aft direction. Fixture device c123 includes lead screw slip table subassembly VII 1231 and sets up in III 1232 of locating lever of lead screw slip table subassembly VII 1231 output, and III 1232 of locating lever is parallel with locating lever II 1222. The clamp device b122 and the clamp device c123 respectively drive the positioning rod II 1222 and the positioning rod III 1232 to position the left side and the right side of the unmanned aerial vehicle. Further, the length of locating lever II 1222 and locating lever III 1232 is greater than the length of locating lever I1212 and locating lever VI 1242 to adapt to unmanned aerial vehicle's overall dimension.
During operation, after confirming that the unmanned aerial vehicle safely lands to the lifting platform 5, the clamping device a121, the clamping device b122, the clamping device c123 and the clamping device d124 respectively move to the central position according to the set distance, and the unmanned aerial vehicle is pushed to the center of the lifting platform 5. After the unmanned aerial vehicle is determined to reach the central position, the screw rod sliding table assembly IV 13 and the screw rod sliding table assembly IV 13 move reversely, so that the lifting platform 5 descends to reach the lowest point of the cabin. At this time, the front and rear doors are closed.
In the embodiment of the invention, each lead screw sliding table assembly is in the prior art and is composed of a stepping motor and a lead screw nut mechanism, and the power wires of the stepping motor are all spiral wires.
Further, the cabin door mechanism, the lifting platform 5 and the fixture device 12 are all provided with limit switches, and the limit switches can obtain and output the state information of the cabin door mechanism, the lifting platform 5 and the fixture device 12. When the industrial computer receives the signal that unmanned aerial vehicle returned, whether check limit switch normally worked, normal during operation sends control command, opens front and back hatch door to send status signal to the system.
As shown in fig. 8, the work flow of the fully automatic unattended airport provided by the present invention is as follows:
when the industrial computer received unmanned aerial vehicle signal of returning a journey, whether limit switch on the system inspection hatch door normally worked, operating condition is normal, and the industrial computer sends control command, and hatch door 1 and back hatch door 10 before screw slip table subassembly I3 and screw slip table subassembly II 6 forward motion (outside lateral movement) are opened. After the cabin door is normally opened, the screw rod sliding table assembly III 8 and the screw rod sliding table assembly IV 13 move forwards (move upwards), and the lifting platform 5 is lifted to the top end to wait for the unmanned aerial vehicle to stop. After the unmanned aerial vehicle is safely parked, the clamp device a121, the clamp device b122, the clamp device c123 and the clamp device d124 move forwards (move towards the center), and the unmanned aerial vehicle is fixed; and then the screw rod sliding table assembly III 8 and the screw rod sliding table assembly IV 13 move reversely (move downwards), and the lifting platform 5 is restored to the bottom. At this moment, the screw rod sliding table assembly I3 and the screw rod sliding table assembly II 6 move reversely (move towards the inner side), and the front cabin door 1 and the rear cabin door 10 are closed. After the whole system is cut off from the outside, the environment adjusting system in the cabin works, the lighting device and the temperature and humidity adjusting system work, and the mechanical arm exchanges electricity. After the battery replacement is completed, the clamp device a121, the clamp device b122, the clamp device c123 and the clamp device d124 move in the reverse direction, and the unmanned aerial vehicle is loosened. The system is on standby awaiting further instructions.
When the lifting platform 5 reaches the bottommost part, the lighting system works, the light supplement lamp is turned on, the binocular camera shoots the battery part of the unmanned aerial vehicle, the obtained image is transmitted to the ROS through the acquisition card, and the battery position on the unmanned aerial vehicle body and the battery position on the charging frame are obtained after the image is processed through a relevant algorithm. And after the electric quantity of the battery is evaluated, an optimal scheme planning mechanical arm is selected for charging and battery replacement.
The environment detection system is always in a working state, when the temperature in the cabin 11 is too high, the temperature sensor uploads an over-temperature signal to the system, and the electric fan works to timely reduce the temperature. When the humidity in the cabin 11 is too high, the humidity sensor uploads a signal to the system, and simultaneously gives an alarm to heat the heating rod until the humidity is adjusted to a normal value.
In the embodiment of the invention, the charging device adopts a drawer type structure, the battery can be popped up by being slightly pushed by the mechanical pushing hand, and then the mechanical arm clamps the battery. The airborne battery and the battery on the charging device are both installed in a clamping shell type, and are popped up in a clicking mode, so that the structure is simple, and the operation is convenient. The power supply of the charging device comes from the cabin system, and the consumption state of the electric quantity is monitored by the system. Furthermore, a lightning arrester is arranged on the outer side of the engine room to avoid and protect thunderstorm weather hazards.
The industrial personal computer is connected with the ground station device through a type-C and used for receiving flight data of the unmanned aerial vehicle in the flight process and completing initialization, follow-up maintenance and other operations of the airport system. The industrial computer is connected with the cabin door driving mechanism, the lifting driving mechanism and the clamp device through the RS-232 communication module, flow operations such as airport door opening and closing, unmanned aerial vehicle fixing and automatic charging are achieved, sufficient electric quantity during circulation operation is ensured, and meanwhile the industrial computer has the functions of automatic dormancy and awakening of the unmanned aerial vehicle. The industrial personal computer controls the environment detection system through PWM to adjust the temperature and the humidity in the cabin 11. Meanwhile, whether the unmanned aerial vehicle is opened or not is determined according to the external environment condition, so that the aim of protecting the hardware of the unmanned aerial vehicle is fulfilled.
Furthermore, the ground station device is used for receiving unmanned aerial vehicle task information distributed by the ground base station, is connected with the unmanned aerial vehicle in a wireless communication mode, controls the unmanned aerial vehicle to complete corresponding tasks according to task requirements, acquires unmanned aerial vehicle state information and unmanned aerial vehicle task execution data, and guides the unmanned aerial vehicle to stop. The unmanned aerial vehicle airport equipment is used for taking off, landing and charging the unmanned aerial vehicle; the power supply device provides a stable power supply for the controller, the unmanned aerial vehicle charging device and the environment adjusting device. The environment detection system in the cabin comprises a temperature sensor, a humidity sensor, a lighting device, a corresponding adjusting device and an abnormity warning device, and the devices are used for monitoring the cabin environment and providing reference for the unmanned aerial vehicle battery replacement. The external monitoring device collects data objects which comprise an environmental data acquisition instrument, a louver box and a wind direction and wind speed sensor, and the data are used for judging whether the external environment is suitable for the takeoff operation of the unmanned aerial vehicle.
In the embodiment of the invention, the airport body control system comprises an information acquisition and processing system, a mechanical arm control system, a cabin door and lifting platform control system, a clamp control system and a temperature and humidity regulation system, and software and application programs required by the systems are all installed on an industrial personal computer. Specifically, the software includes ROS, graphical information display, binocular camera visual display, environmental display, and the like. The industrial personal computer can complete the collection and processing of the unmanned airport state information through the information collection and processing system, and can interact with the remote control center to realize remote control. The remote control center can communicate with the unmanned aerial vehicle airport body in real time. Wherein, remote control center passes through optic fibre and is connected with the nearest ground basic station in distance unmanned aerial vehicle airport. And the ground base station performs information interaction with a communication module on the industrial personal computer in a 5G communication mode, and can perform online modification on airport control parameters through a U I interface of a remote control center. Meanwhile, the remote control center can perform remote system upgrade on the airport.
The concrete mode is as follows: the industrial personal computer sends information to be uploaded to a ground station outside the engine room, a ground station signal transmitter sends the information to an adjacent ground base station in a 5G communication mode, and the ground base station sends the information to be transmitted to a base station near a remote control center through optical fibers to complete information interaction. The airport system can complete information acquisition and processing, mechanical arm control, environment regulation, cabin door and lifting platform control, and control instruction control modes are uniformly distributed by an industrial personal computer.
Specifically, the information acquisition and processing system set is a database in an industrial personal computer system and is connected with the ground station, the limit switch, the binocular camera and the temperature and humidity sensor. The ground station can receive the return signal of the unmanned aerial vehicle and the external environment information of the unmanned aerial vehicle; the limit switch can obtain the state information of the cabin door and the lifting platform, the state information of the clamp and the like; the binocular camera obtains information of a battery on the body of the unmanned aerial vehicle and a battery in the charging device; the temperature and humidity sensor can obtain the temperature and humidity information in the engine room; meanwhile, a charging device connected with the industrial personal computer can obtain the health condition information of the battery of the unmanned aerial vehicle and the state information of the charging device; the mechanical arm device connected with the industrial personal computer can complete the battery replacement and charging processes. The industrial personal computer can intensively and uniformly manage the information, control the corresponding system and synchronize the obtained information with the ground base station.
In this embodiment, the mechanical arm has four degrees of freedom, and the binocular camera is used for calibrating the battery, including information such as the type and position of the battery. And the mechanical arm operating system is an ROS, and can complete feature recognition and trajectory planning. Meanwhile, the mechanical arm can reasonably arrange the charging sequence of the batteries according to the residual electric quantity of the batteries so as to improve the operation efficiency of the airport to the maximum extent.
The full-automatic unattended airport provided by the invention can automatically change power for the unmanned aerial vehicle and provide simple maintenance, and meanwhile, real-time monitoring and updating can be carried out through a remote control center, so that the capability of accurately landing the unmanned aerial vehicle and the efficiency of automatically changing the power for the unmanned aerial vehicle are effectively improved, the field operation time of the unmanned aerial vehicle is increased, and the capability of improving the field operation of the unmanned aerial vehicle is achieved.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (10)

1. A fully automatic unattended airport, comprising:
the unmanned aerial vehicle airport body comprises a cabin (11), a cabin door mechanism which is arranged at the top of the cabin (11) and can be opened and closed, and a lifting positioning platform which is arranged in the cabin (11);
the environment detection system is arranged in the cabin (11) and is used for detecting environmental parameters inside the cabin (11);
the charging system is arranged in the cabin (11) and used for completing charging of the unmanned aerial vehicle;
and the industrial personal computer is used for controlling the cabin door mechanism, the lifting positioning platform, the charging system and the environment monitoring system, and is communicated with the remote control center to realize remote control.
2. The fully automated unmanned airport of claim 1, wherein the remote control center is connected to a ground base station nearest to the fully automated unmanned airport via optical fiber; and the ground base station performs information interaction with a communication module on the industrial personal computer in a 5G communication mode, and performs online modification on airport control parameters through a U I interface of a remote control center.
3. The fully automated unmanned airport of claim 1, wherein the environmental detection system comprises a temperature regulation system and a humidity regulation system;
the temperature adjusting system comprises a temperature sensor and an electric fan, wherein the temperature sensor is used for detecting and outputting temperature information in the cabin (11); the industrial personal computer controls the electric fan according to temperature information detected by the temperature sensor so as to adjust the temperature in the engine room (11);
the humidity adjusting system comprises a humidity sensor and a heating rod, wherein the humidity sensor is used for detecting and outputting humidity information in the cabin (11); the industrial personal computer controls the heating rod according to humidity information detected by the humidity sensor so as to adjust the humidity in the engine room (11).
4. The fully automatic unmanned airport of claim 1, wherein said charging system comprises a binocular camera, a mechanical arm, and a charging device for charging the unmanned aerial vehicle; the mechanical arm is controlled by the industrial personal computer and is used for completing battery replacement and charging procedures; the binocular camera is used for obtaining the information and the output of battery and charging device battery on the unmanned aerial vehicle fuselage.
5. The automatic unattended airport according to claim 1, wherein the hatch mechanism comprises a front hatch (1), a front hatch driving mechanism, a rear hatch (10) and a rear hatch driving mechanism, wherein the front hatch (1) and the rear hatch (10) are slidably disposed on the front and rear sides of the top of the cabin (11), the front hatch driving mechanism and the rear hatch driving mechanism are disposed on the top of the cabin (11) and are respectively connected with the front hatch (1) and the rear hatch (10), and the front hatch driving mechanism and the rear hatch driving mechanism can respectively drive the front hatch (1) and the rear hatch (10) to open or close.
6. The full-automatic unattended airport according to claim 5, wherein the front hatch driving mechanism comprises a connecting rod I (2), a lead screw sliding table assembly I (3) and a connecting rod II (4), wherein the connecting rod I (2) and the connecting rod II (4) are arranged at the top of the cabin (11) along the left-right direction, the lead screw sliding table assembly I (3) is installed on the connecting rod I (2) and the connecting rod II (4) and outputs power along the front-back direction, and the front hatch (1) is connected with the output end of the lead screw sliding table assembly I (3);
the rear cabin door driving mechanism comprises a connecting rod III (7), a lead screw sliding table assembly II (6) and a connecting rod IV (9), wherein the connecting rod III (7) and the connecting rod IV (9) are arranged at the top of the cabin (11) along the left-right direction, and the lead screw sliding table assembly II (6) is arranged on the connecting rod III (7) and the connecting rod IV (9) and outputs power along the front-back direction; and the rear cabin door (10) is connected with the output end of the screw rod sliding table assembly II (6).
7. The fully automatic unmanned airport according to claim 1, wherein the elevating positioning platform comprises a left elevating driving mechanism, a right elevating driving mechanism, an elevating platform (5) and a fixture device (12), wherein the left elevating driving mechanism and the right elevating driving mechanism are arranged on the left and right sides of the inner wall of the cabin (11), the output ends of the left elevating driving mechanism and the right elevating driving mechanism are connected with the elevating platform (5), and the fixture device (12) is arranged on the top of the elevating platform (5) for positioning the unmanned aerial vehicle.
8. The fully automated unmanned airport of claim 7, wherein said clamp device (12) comprises circumferentially equispaced clamp devices a (121), b (122), c (123), and d (124);
the fixture device a (121), the fixture device b (122), the fixture device c (123) and the fixture device d (124) are identical in structure and respectively comprise a lead screw sliding table assembly and positioning rods arranged at the output end of the lead screw sliding table assembly, and the four positioning rods form a direction positioning frame.
9. The full-automatic unattended airport according to claim 7, wherein the left lifting driving mechanism comprises a vertically arranged lead screw sliding table assembly III (8) and a metal sheet m (14) connected with an output end of the lead screw sliding table assembly III (8);
the right lifting driving mechanism comprises a vertically arranged lead screw sliding table assembly IV (13) and a metal sheet n (15) connected with the output end of the lead screw sliding table assembly IV (13);
the metal sheet m (14) and the metal sheet n (15) are connected with the left side and the right side of the lifting platform (5).
10. The fully automatic unmanned airport according to claim 7, wherein the hatch mechanism, the lifting platform (5) and the clamping device (12) are provided with limit switches, and the limit switches can obtain and output status information of the hatch mechanism, the lifting platform (5) and the clamping device (12).
CN202211344652.8A 2022-10-31 2022-10-31 Full-automatic unmanned on duty airport Pending CN115610688A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211344652.8A CN115610688A (en) 2022-10-31 2022-10-31 Full-automatic unmanned on duty airport

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211344652.8A CN115610688A (en) 2022-10-31 2022-10-31 Full-automatic unmanned on duty airport

Publications (1)

Publication Number Publication Date
CN115610688A true CN115610688A (en) 2023-01-17

Family

ID=84876480

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211344652.8A Pending CN115610688A (en) 2022-10-31 2022-10-31 Full-automatic unmanned on duty airport

Country Status (1)

Country Link
CN (1) CN115610688A (en)

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