CN116048113A - Unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion - Google Patents
Unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion Download PDFInfo
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- 238000011084 recovery Methods 0.000 title claims abstract description 33
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- 230000004927 fusion Effects 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims description 35
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- 230000008878 coupling Effects 0.000 description 10
- 238000010168 coupling process Methods 0.000 description 10
- 238000005859 coupling reaction Methods 0.000 description 10
- 230000000903 blocking effect Effects 0.000 description 9
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- 230000004308 accommodation Effects 0.000 description 5
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- 230000009471 action Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 230000005012 migration Effects 0.000 description 4
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- 238000007789 sealing Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses an unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion, which comprises a shell, wherein a door plate is hinged to the shell, a first landing plate and a second landing plate are connected in a sliding manner in the shell, and accommodating cavities for storing unmanned aerial vehicles are formed in the first landing plate and the second landing plate; the shell is also provided with a driving mechanism for driving the first lifting plate and the second lifting plate to slide so as to alternately support the unmanned aerial vehicle. According to the unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion, the unmanned aerial vehicle on the first landing plate flies away in a limited manner during take-off, then the unmanned aerial vehicle on the second landing plate takes-off, and when the unmanned aerial vehicle on the second landing plate is recovered, the unmanned aerial vehicle on the second landing plate is reset preferentially, and then the unmanned aerial vehicle on the first landing plate is reset, so that the sequential take-off and recovery of a plurality of unmanned aerial vehicles are realized.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle cruising, in particular to an unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion.
Background
The unmanned aerial vehicle is a unmanned aerial vehicle operated by using a radio remote control device and a self-provided program control device, or is operated completely or intermittently and autonomously by a vehicle-mounted computer, and due to the small size and flexible operation, the unmanned aerial vehicle is usually equipped with a high-definition digital video camera, a camera and a GPS positioning system, can perform positioning and autonomous cruising along a power grid, can transmit photographed images in real time, and can be synchronously watched and controlled by a monitoring person on the computer.
The utility model provides a be used for unmanned aerial vehicle and unmanned aerial vehicle system of commodity circulation transportation's application for the publication number CN 108910049A, the publication is 2018.11.30, the name, including first fuselage, second fuselage and wing, first fuselage and second fuselage parallel symmetry be fixed in the both sides of the symmetry central line of wing, first fuselage, second fuselage and wing form the accommodation channel that is used for acceping cargo pod, be provided with the fixed part on the wing cargo pod translation extremely during the accommodation channel, the fixed part can fix cargo pod. In addition, the invention also discloses an unmanned aerial vehicle system comprising the unmanned aerial vehicle and used for logistics transportation. The invention discloses an unmanned aerial vehicle and an unmanned aerial vehicle system for logistics transportation, and aims to solve the technical problems that the unmanned aerial vehicle for logistics transportation in the prior art is low in transportation efficiency and cannot automatically load goods.
Including foretell prior art's is not enough in, when using fixed wing unmanned aerial vehicle system, can only realize single unmanned aerial vehicle's take off and retrieve at every turn, can not realize that a plurality of unmanned aerial vehicles take off in proper order and descend, when patrolling in large areas such as forest, grassland, need many unmanned aerial vehicles to patrol simultaneously, obviously, single unmanned aerial vehicle recovery system transportation, use more occupy space and inconvenient.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion, so as to solve the defects in the prior art.
In order to achieve the above object, the present invention provides the following technical solutions:
the unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion comprises a shell, wherein a door plate is hinged to the shell, a first landing plate and a second landing plate are connected in a sliding mode in the shell, and accommodating cavities for storing unmanned aerial vehicles are formed in the first landing plate and the second landing plate; the shell is also provided with a driving mechanism for driving the first lifting plate and the second lifting plate to slide so as to alternately support the unmanned aerial vehicle.
The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion, the driving mechanism comprises a driving motor fixedly connected to the shell, a transmission shaft is fixedly connected to the output end of the driving motor, two first friction wheels are fixedly connected to the transmission shaft, first screw rods are connected to the first landing plates in a threaded mode, second screw rods are connected to the second landing plates in a threaded mode, second friction wheels are fixedly connected to the first screw rods and the second screw rods respectively, and two first friction wheels are in friction transmission with the two second friction wheels respectively.
The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion, a first telescopic rod is arranged between the first screw and one of the second friction wheels, and a second telescopic rod is arranged between the second screw and the other of the second friction wheels.
The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion, wherein limiting assemblies are arranged on the first telescopic rod and the second telescopic rod.
The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion, a first cross rod and a second cross rod are connected in a sliding manner in the shell, a first toothed plate is fixedly connected to the first cross rod, a second toothed plate is fixedly connected to the second cross rod, a rotating shaft is connected to the shell in a rotating manner, a gear is fixedly connected to the rotating shaft, the first toothed plate and the second toothed plate are in meshed transmission through the gear, a first transmission rod is arranged between the first telescopic rod and the first cross rod, and a second transmission rod is arranged between the second telescopic rod and the second cross rod.
The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion, wherein the first landing plate is provided with the mounting groove, the bottom wall in the mounting groove is connected with the abutting block in a sliding manner, the first toothed plate is fixedly connected with the abutting rod, and the abutting rod is located on the movement stroke of the abutting block.
The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion, the movable plate is elastically connected to the bottom wall in the shell, the abutting block is in sliding connection with the movable plate, the vertical rod is fixedly connected to the movable plate, the second lifting plate is rotationally connected with the stop lever, the vertical rod is located on the movement stroke of the stop lever, and the stop lever is arranged on the rotation stroke of the stop lever.
According to the unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion, the torsion springs are arranged on the stop lever.
According to the unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion, the abutting blocks and the abutting rods are provided with wedge faces.
The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion, wherein a plurality of sensors are arranged on the first landing plate and the second landing plate.
In the technical scheme, the unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion provided by the invention has the advantages that the first landing plate is positioned below the second landing plate, the first landing plate slides to the outside of the shell through the driving mechanism, the upper part of the first landing plate is not shielded at this moment, so that the unmanned aerial vehicle above the first landing plate can normally take off, after the unmanned aerial vehicle on the first landing plate flies away, the driving mechanism drives the second landing plate to slide to the outside of the shell, at this moment, the unmanned aerial vehicle on the second landing plate can normally fly away, during recovery, the unmanned aerial vehicle on the second landing plate is reset preferentially, then the driving mechanism is controlled to drive reversely, so that the second landing plate slides into the shell, at this moment, the second landing plate does not shield the first landing plate, so that the unmanned aerial vehicle on the first landing plate can automatically reset, and the sequential taking off and recovery of a plurality of unmanned aerial vehicles are realized.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
FIG. 1 is a schematic diagram of an overall structure according to an embodiment of the present invention;
fig. 2 is a schematic view of an internal structure of a housing according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a front view structure according to an embodiment of the present invention;
FIG. 4 is a schematic cross-sectional view of the structure at a-a in FIG. 3;
FIG. 5 is a schematic view of the partial structure at A in FIG. 4;
FIG. 6 is a schematic view of the partial structure at B in FIG. 4;
FIG. 7 is a schematic view of the partial structure at C in FIG. 6;
FIG. 8 is a schematic view of a first abutting structure of an abutting block and an abutting rod according to an embodiment of the present invention;
fig. 9 is a schematic view of a second abutting structure of an abutting block and an abutting rod according to an embodiment of the present invention.
Reference numerals illustrate:
1. a housing; 2. a door panel; 3. a first landing plate; 4. a second landing plate; 5. a driving mechanism; 6. a driving motor; 7. a transmission shaft; 8. a first friction wheel; 9. a first screw; 10. a second screw; 11. a second friction wheel; 12. a first telescopic rod; 13. a second telescopic rod; 14. a limit component; 14.1, limiting blocks; 14.2, a limit groove; 15. a first cross bar; 16. a second cross bar; 17. a first toothed plate; 18. a second toothed plate; 19. a rotating shaft; 20. a gear; 21. a first transmission rod; 22. a second transmission rod; 23. a mounting groove; 24. an abutment block; 24.1, a connecting frame; 25. a butt joint rod; 26. extruding a spring; 27. an annular groove; 28. a movable plate; 29. a vertical rod; 30. a stop lever; 31. a blocking piece; 32. a lifting groove; 33. a return spring; 34. a slide rail; 35. a notch; 36. a fixing mechanism; 37. a first clamping plate; 38. a second clamping plate; 39. a cylinder; 40. a connecting rod; 41. a clamping groove; 42. an avoidance groove; 43. a passive dust removal assembly; 44. sealing the cavity member; 45. a push rod; 45.1, a piston; 46. a spray head; 47. and (5) a flexible hose.
Detailed Description
In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings.
Referring to fig. 1-9, the embodiment of the invention provides an unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion, which comprises a shell 1, wherein a door plate 2 is hinged on the shell 1, a first landing plate 3 and a second landing plate 4 are connected in a sliding manner in the shell 1, and accommodating cavities for storing unmanned aerial vehicles are formed in the first landing plate 3 and the second landing plate 4; the shell 1 is also provided with a driving mechanism 5 for driving the first lifting plate 3 and the second lifting plate 4 to slide so as to alternately receive the unmanned aerial vehicle.
Specifically, the casing 1 is inside hollow cuboid structure, first landing plate 3 and the inside wall of second landing plate 4 sliding connection in casing 1, and first landing plate 3 is located the below of second landing plate 4, space between first landing plate 3 and the second landing plate 4 is the accommodation chamber, space between second landing plate 4 and the roof in casing 1 also is the accommodation chamber, the accommodation chamber is used for depositing unmanned aerial vehicle, actuating mechanism 5 can be screw thread screw mechanism also can be other reciprocating mechanism, and can be one or more, be used for controlling first landing plate 3 and the horizontal reciprocal slip of second landing plate 4, the effect that so set up is that after the door plant was opened by hand, make first landing plate 3 slide to casing 1 outside through actuating mechanism 5, first landing plate 3 top is unoccluded, so that unmanned aerial vehicle that the last bearing of first landing plate 3 can normally take off at this moment, after the aircraft on first landing plate 3 flies away, actuating mechanism 5 drives second landing plate 4 again and slides to casing 1 (second landing plate 4 is still can normally be driven to the landing plate 4 when first landing plate 4 is in the time), then the second landing plate 4 is driven to the outside of the first landing plate 1, the unmanned aerial vehicle is not normally to the second landing plate 1, the second landing plate is recovered, the first landing plate 4 can be recovered when the first landing plate is driven to the first landing plate is in the first landing plate 4 outside of the first landing plate 1, the first landing plate is in the first landing plate 4 is in the first time, the first landing plate is recovered, the first landing plate is in the first landing plate is out, the first landing plate is on the first, and the landing plate is on the first landing plate is on the landing plate, and the landing plate is down, and the first landing plate is down, and the down
The landing plate 3 to make unmanned aerial vehicle on the first landing plate 3 can automatic re-set, so realize the take off and retrieve in proper order of a plurality of unmanned aerial vehicles 5.
As a preferred embodiment, the driving mechanism 5 comprises a driving motor 6 fixedly connected to the housing 1, a transmission shaft 7 is fixedly connected to an output end of the driving motor 6, two first friction wheels 8 are fixedly connected to the transmission shaft 7, a first screw 9 is in threaded connection with the first landing plate 3, and a second screw is connected to the second landing plate 4
The screw is connected with a second screw 10 in a threaded manner, 0 second friction wheels 11 are respectively arranged at the end parts of the first screw 9 and the second screw 10, friction transmission is carried out between the first friction wheels 8 and the second friction wheels 11 in one-to-one correspondence, specifically, a driving motor 6 is fixedly connected to the top of the shell 1, a transmission shaft 7 at the output end of the driving motor penetrates through the inner top wall of the shell 1 and extends into the shell 1, the first friction wheels 8 and the second friction wheels 11 are in a round table shape, the two first friction wheels 8 are fixedly connected to the outer surface of the transmission shaft 7, and the two second friction wheels are fixedly connected to the top of the shell 1
The wiping wheel 11 is fixedly connected to the first screw rod 9 and the second screw rod 10 respectively, and is positioned at one end close to the first friction wheel 85, the bottoms of the first landing plate 3 and the second landing plate 4 are fixedly connected with screw connection parts, the first screw rod 9 and the second screw rod 10 are respectively in screw connection with the two screw connection parts, the arrangement is that the driving motor 6 drives the transmission shaft 7 at the output end to rotate, thereby driving the first friction wheel 8 to rotate, and the first friction wheel 8 synchronously drives the second friction wheel 8 to rotate due to friction transmission between the first friction wheel 8 and the second friction wheel 11
The friction wheel 11 rotates to drive the first screw rod 9 and the second screw rod 10 to rotate, and the first screw rod 90 and the second screw rod 10 are respectively in threaded connection with the two threaded parts, so that the first falling plate 3 and the second falling plate
The drop plate 4 can slide reciprocally along the inner wall of the housing 1.
As another preferred embodiment, a first telescopic rod 12 is arranged between the first screw 9 and one of the second friction wheels 11, and a second telescopic rod 12 is arranged between the second screw 10 and the other second friction wheel 11
The second telescopic rod 13 is arranged, specifically, the first telescopic rod 12 and the second telescopic rod 13 comprise a sleeve 5 and a sliding rod which is connected in the sleeve in a sliding way, a compression spring 26 is arranged in the first telescopic rod 12, and the compression is carried out
One end of the spring 26 is fixedly connected to the inner wall of the sleeve of the first telescopic rod 12, the other end of the spring is fixedly connected to the sliding rod, the spring 26 is extruded to enable the first telescopic rod 12 to be in an extending state at the beginning, one ends of the sleeves of the first telescopic rod 12 and the second telescopic rod 13 are fixedly connected to the first screw rod 9 and the second screw rod 10 respectively, one ends of the sliding rod are fixedly connected with the two second friction wheels 11 respectively, and the effect of the arrangement is that when the telescopic rod extends, namely, the first friction wheels 8 are in tight contact with the second friction wheels 11, so that kinetic energy can be transferred, when the telescopic rod is shortened, the first friction wheels 8 are far away from the second friction wheels 11, and kinetic energy between the first friction wheels 8 and the second friction wheels 11 cannot be transferred, and direct coupling and decoupling of the first friction wheels 8 and the second friction wheels 11 are achieved.
Further, the first telescopic rod 12 and the second telescopic rod 13 are both provided with a limiting component 14, specifically, the limiting component 14, that is, the sliding rod is fixedly connected with a limiting block 14.1, and the sleeve is provided with a limiting groove 14.2 adapted to the limiting block 14.1.
Further, a first cross bar 15 and a second cross bar 16 are slidably connected in the casing 1, a first toothed plate 17 is fixedly connected on the first cross bar 15, a second toothed plate 18 is fixedly connected on the second cross bar 16, a rotating shaft 19 is rotatably connected in the casing 1, a gear 20 is fixedly connected on the rotating shaft 19, the first toothed plate 17 and the second toothed plate 18 are in meshed transmission through the gear 20, that is, the first toothed plate 17 and the second toothed plate 18 are respectively meshed on the upper side and the lower side of the gear 20, a first transmission rod 21 is arranged between the first telescopic rod 12 and the first cross bar 15, and a second transmission rod 22 is arranged between the second telescopic rod 13 and the second cross bar 16. The first landing plate 3 is provided with a mounting groove 23, an abutting block 24 is connected to the inner bottom wall of the mounting groove 23 in a sliding manner, an abutting rod 25 is fixedly connected to the first toothed plate 17, and the abutting rod 25 is located on the movement stroke of the abutting block 24.
Specifically, the first cross rod 15 and the second cross rod 16 both slide horizontally along the inner side wall of the shell 1, the first toothed plate 17 is fixedly connected above the first cross rod 15, the second toothed plate 18 is fixedly connected below the second cross rod 16, the gear 20 is positioned between the first toothed plate 17 and the second toothed plate 18, the top end of the first transmission rod 21 is fixedly connected with the lower surface of the first cross rod 15, the bottom end of the second transmission rod 22 is fixedly connected with the upper surface of the second cross rod 16, the bottom end of the first transmission rod 21 and the top end of the second transmission rod 22 are respectively fixedly connected with a lantern ring, annular grooves 27 matched with the lantern rings are formed on the slide bars, the lantern rings are rotationally connected with the annular grooves 27, the annular grooves 27 play an axial limiting role without a circumferential limiting role on the lantern rings, the lantern rings cannot relatively displace in the axial direction of the telescopic rod relative to the annular grooves 27, the mounting grooves 23 are formed along the moving direction of the first landing plate 3, the propping rods 25 are Z-shaped, the Z-shaped one end is fixedly connected to the first toothed plate 17, the middle section is horizontally arranged and parallel to the first landing plate 3, the other end is an abutting part, an abutting block 24 is movably arranged on the bottom wall in the mounting groove 23, the top end extends into the mounting groove 23, the effect of the arrangement is that the extrusion spring 26 is in a compressed state in the initial state, the elastic force stored in the extrusion spring enables the first telescopic rod 12 to be stretched, so that the second friction wheel 11 corresponding to the first telescopic rod 12 is tightly attached to the first friction wheel 8, the second friction wheel 11 corresponding to the first landing plate 3 is in contact with the first friction wheel 8 for friction transmission in the initial state, the second friction wheel 11 corresponding to the second landing plate 4 is not in contact with the first friction wheel 8, a gap is reserved between the two friction wheels, the driving motor 6 is started, the driving motor 6 drives the first screw 9 to rotate through the transmission shaft 7 and other parts, thereby drive first landing plate 3 slip to drive butt piece 24 horizontal migration, when butt piece 24 and the vertical face contact of butt portion of butt pole 25 (this is first butt) and extrusion (first landing plate 3 has slid to casing 1 outside this moment), thereby drive butt pole 25, first pinion rack 17, first transfer line 21 round horizontal migration, thereby drive the slide bar shrink, make this second friction wheel 11 and first friction wheel 8 separation (when second friction wheel 11 and first friction wheel 8 separation, because first screw 9 has certain inertia, can continue to rotate a period of time, thereby can drive first landing plate 3 horizontal migration a minor segment distance, thereby can drive parts horizontal migration such as butt piece 24 a minor segment distance), thereby drive gear 20 rotation of first pinion rack 17, thereby drive second pinion rack 18 and second transfer line 22 reverse movement this moment, thereby drive second telescopic link 13 extension, the extension has eliminated second friction wheel 11 on second landing plate 4 and first friction wheel 8 and the corresponding clearance between second friction wheel 11 and first friction wheel 8, thereby drive second screw 4 and second landing plate 4, thereby, can drive second landing plate 4 and second screw 11 on the second landing plate 4, thereby drive second landing plate 4 and second friction wheel 4 to rotate, thereby, the second landing plate 10 is rotated.
Further, a movable plate 28 is elastically connected to the inner bottom wall of the housing 1, the bottom of the abutting block 24 is slidably connected with the movable plate 28, a vertical rod 29 is fixedly connected to the movable plate 28, the top of the vertical rod 29 is located in a notch 35 formed in the second lifting plate 4, a stop lever 30 is rotationally connected to the notch 35, the vertical rod 29 is located on a movement stroke of the stop lever 30 following the linear movement of the second lifting plate 4, a blocking block 31 is arranged on a rotation stroke of the stop lever 30, specifically, a lifting groove 32 is formed in the inner bottom wall of the housing 1, the movable plate 28 can vertically slide along the lifting groove 32, namely, a reset spring 33 is arranged between the movable plate 28 and the inner bottom wall of the lifting groove 32, a slide rail 34 is arranged on the upper surface of the movable plate 28, a connecting frame 24.1 is arranged at the bottom of the abutting block 24, the through hole through which the first screw rod 9 can pass is formed in the connecting frame 24.1, the bottom end of the connecting frame 24.1 is in sliding connection with the sliding rail 34, the end, close to the transmission shaft 7, of the second lifting plate 4 is provided with the notch 35, the stop lever 30 is rotationally connected in the notch 35, two vertical rods 29 are fixedly connected on the upper surface of the movable plate 28 in parallel, wedge-shaped surfaces are arranged on the top of the vertical rods 29 and the bottom of the stop lever 30, the blocking blocks 31 are only arranged at the two ends of the notch 35, the sliding distance of the second lifting plate 4 is irrelevant to the size of the notch 35, when the second lifting plate 4 slides out, the vertical rods 29 drive the stop lever 30 to rotate, so that the stop lever 30 cannot block the vertical rods 29, when the second lifting plate 4 slides in, the stop lever 30 cannot reversely rotate under the action of the blocking blocks 31, and therefore the vertical rods 29 move downwards under the action of the wedge-shaped surfaces of the stop lever 30 and the vertical rods 29. The effect of this arrangement is that, because the initial position pole 29 is located inside the notch 35, when the second landing plate 4 slides to the outside of the housing 1, the top end of the pole 29 contacts with the stop lever 30, so that the stop lever 30 rotates, thereby avoiding the extrusion of the pole 29 to the stop lever 30, after the unmanned aerial vehicle finishes detection, the unmanned aerial vehicle will stop on the second landing plate 4 preferentially, at this time, the driving motor 6 is controlled to reverse, thereby driving the second screw 10 to reverse, thereby driving the second landing plate 4 to move reversely, when the second landing plate 4 enters into the housing 1 completely (at this time, the second landing plate 4 will not block the first landing plate 3, i.e. at this time, the unmanned aerial vehicle can fall on the second landing plate 4 without blocking), the wedge surface of the stop lever 30 will contact with the wedge surface of the pole 29 and extrude, because the stop lever 30 can not rotate under the blocking effect of the blocking block 31, therefore, the stop lever 30 can press the upright 29 to enable the upright 29 and the movable plate 28 to move vertically downwards, and compress the return spring 33, the movable plate 28 moves downwards to drive the connecting frame 24.1 and the abutting block 24 to move downwards, so that the abutting effect of the abutting block 24 on the abutting rod 25 is relieved, the abutting rod 25 and the first toothed plate 17 can move towards the direction of the first friction wheel 8 under the elastic force of the pressing spring 26, so as to drive the slide rod of the first telescopic rod 12 to stretch, so that friction transmission is carried out between the second friction wheel 11 corresponding to the first telescopic rod 12 and the first friction wheel 8, and meanwhile, the second telescopic rod 13 is driven to shrink under the action of the gear 20, the second toothed plate 18 and the second transmission rod 22, so that the second friction wheel 11 corresponding to the second telescopic rod 13 is separated from the first friction wheel 8, and the second screw rod 10 is reversely rotated, thereby transport the unmanned aerial vehicle of first landing plate 3 and top to inside casing 1, and when transporting the unmanned aerial vehicle on the first landing plate 3, the second landing plate is in the home position motionless.
Further, a torsion spring (not shown in the figure) is disposed on the stop lever 30, specifically, the torsion spring is fixedly connected to two ends of the stop lever 30, and after the stop lever 30 rotates due to extrusion of the upright rod 29, the stop lever 30 can be automatically reset under the action of elastic force of the torsion spring.
Further, the abutment block 24 and the abutment rod 25 are both provided with wedge surfaces, so that the abutment block 24 is moved downward, so that the abutment block 25 does not block the abutment block 24, and the blocking block 24 is moved to the rear of the abutment rod 25 again at this time, so that the first landing plate 3 can be normally reset when the first landing plate 3 slides inside the housing 1, and the wedge surfaces of the abutment block 24 and the abutment rod 25 are in contact with each other (this is the second abutment), so that the abutment block 24 is moved downward, so that the abutment rod 25 does not block the abutment block 24, and the blocking block 24 is moved to the rear of the abutment rod 25 again at this time.
As a preferred embodiment, the first landing plate 3 and the second landing plate 4 are provided with a plurality of sensors (not shown in the figure), and in particular, the sensors are plural, and preferably the infrared sensors are disposed above the first landing plate 3 and the second landing plate 4, and the corresponding unmanned aerial vehicle is also provided with the infrared sensors, so that when the unmanned aerial vehicle hovers above the landing plate, the infrared sensors above the landing plate sense the infrared sensors on the unmanned aerial vehicle, and when the sensors are all completely corresponding, the unmanned aerial vehicle can fall onto the landing plate, thereby preventing the unmanned aerial vehicle from deviating, and realizing the automatic positioning of the unmanned aerial vehicle.
Preferably, be provided with fixed establishment 36 on the casing 1, fixed establishment 36 includes first cardboard 37 and second cardboard 38, and first cardboard 37 is located the top of first landing plate 3, and second cardboard 38 is located the top of second landing plate 4, the rigid coupling has connecting rod 40 between first cardboard 37 and the second cardboard 38, the rigid coupling has cylinder 39 on the casing 1, the output of cylinder 39 runs through the top of casing 1 and extends to inside the casing 1, and with second cardboard 38 upper surface rigid coupling, specifically, draw-in groove 41 has all been seted up on first cardboard 37 and the second cardboard 38, and connecting rod 40 is "" shape, and it cup joints on transmission shaft 7, and inside offered and to supply the dodge groove 42 that second transfer line 22 removed, and the effect of setting like this is that under the initial state, unmanned aerial vehicle's wing inserts in the draw-in groove 41, through the roof of draw-in groove 41 and cardboard, can fix unmanned aerial vehicle, when need use the aircraft, starts cylinder 39, and 39 drives its output and all offers the draw-in groove 41, and can be realized that the unmanned aerial vehicle is fixed to the inside when the second cardboard of unmanned aerial vehicle that the second cardboard 38 rises, can be realized to the inside the locking of unmanned aerial vehicle after the unmanned aerial vehicle, and the unmanned aerial vehicle is fixed to the inside the casing that the back down, and the unmanned aerial vehicle can be realized to the locking down when the unmanned aerial vehicle of the second cardboard is realized.
Further, the rigid coupling has passive form dust removal subassembly 43 on the second cardboard 38, passive form dust removal subassembly 43 includes seal chamber spare 44, is provided with the seal chamber in the seal chamber spare 44, seal chamber spare 44 rigid coupling is in second cardboard 38 upper surface, roof rigid coupling has ejector pin 45 in the casing 1, ejector pin 45 bottom and seal chamber spare 44 move sealing connection, first lift plate 3 and all the rigid coupling has shower nozzle 46 on the second lift plate 4, two between shower nozzle 46 all and the seal chamber spare 44 through flexible hose 47 intercommunication, specifically, shower nozzle 46 is located the place ahead of unmanned aerial vehicle camera, and ejector pin 45 top rigid coupling is provided with piston 45.1 in seal chamber spare 44 inner wall in seal chamber spare 44 in the seal chamber spare, and ejector pin 46 passes through the snap ring rigid coupling on first cardboard 37 and second cardboard 38, and flexible hose 47 preferring rubber tube, and the effect that sets up lie in so, when cylinder 39 drive first cardboard 37 and second cardboard 38 move, and second cardboard 38 can drive its top and move on the piston 45.1 along seal chamber spare 45, thereby seal chamber spare 45, and seal chamber spare 45 can not be realized simultaneously to seal the seal chamber spare 45, and seal chamber spare 45 has been removed to the seal chamber spare is realized to the seal chamber spare is moved to the seal chamber spare 44, and the seal chamber spare is realized to the inside the seal chamber spare is 45, and the seal chamber spare is moved to the inside 45, and the seal chamber spare is guaranteed to be compressed air is compressed tightly by the piston 44.
Further, when the air cylinder 37 drives the clamping plate to reset, the sealing cavity piece 44 also resets synchronously, so that preparation is made for the next dust removal, and the function of self-cleaning the camera before each detection of the unmanned aerial vehicle is realized.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that modifications may be made to the described embodiments in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive of the scope of the invention, which is defined by the appended claims.
Claims (10)
1. The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion comprises a shell, wherein a door plate is hinged to the shell, and the unmanned aerial vehicle formation autonomous dynamic landing recovery system is characterized in that a first landing plate and a second landing plate are connected in a sliding manner in the shell, and accommodating cavities for storing unmanned aerial vehicles are formed in the first landing plate and the second landing plate;
the shell is also provided with a driving mechanism for driving the first lifting plate and the second lifting plate to slide so as to alternately support the unmanned aerial vehicle.
2. The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion according to claim 1, wherein the driving mechanism comprises a driving motor fixedly connected to the shell, a transmission shaft is fixedly connected to an output end of the driving motor, two first friction wheels are fixedly connected to the transmission shaft, a first screw rod is connected to the first landing plate in a threaded manner, a second screw rod is connected to the second landing plate in a threaded manner, second friction wheels are fixedly connected to the first screw rod and the second screw rod respectively, and friction transmission is carried out between the two first friction wheels and the two second friction wheels respectively.
3. The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion according to claim 2, wherein a first telescopic rod is arranged between the first screw and one of the second friction wheels, and a second telescopic rod is arranged between the second screw and the other of the second friction wheels.
4. The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion of claim 3, wherein the first telescopic rod and the second telescopic rod are provided with limiting assemblies.
5. The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion according to claim 3, wherein a first cross rod and a second cross rod are connected in a sliding manner in the shell, a first toothed plate is fixedly connected to the first cross rod, a second toothed plate is fixedly connected to the second cross rod, a rotating shaft is rotationally connected to the shell, a gear is fixedly connected to the rotating shaft, the first toothed plate and the second toothed plate are in meshed transmission through the gear, a first transmission rod is arranged between the first telescopic rod and the first cross rod, and a second transmission rod is arranged between the second telescopic rod and the second cross rod.
6. The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion according to claim 1, wherein a mounting groove is formed in the first landing plate, an abutting block is connected to the bottom wall in the mounting groove in a sliding manner, an abutting rod is fixedly connected to the first toothed plate, and the abutting rod is located on the movement stroke of the abutting block.
7. The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion according to claim 6, wherein a movable plate is elastically connected to the bottom wall in the shell, the abutting block is slidably connected to the movable plate, a vertical rod is fixedly connected to the movable plate, a stop rod is rotatably connected to the second landing plate, the vertical rod is located on the movement stroke of the stop rod, and a stop block is arranged on the rotation stroke of the stop rod.
8. The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion according to claim 7, wherein a torsion spring is arranged on the stop lever.
9. The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion of claim 7, wherein the abutment block and the abutment rod are both provided with wedge faces.
10. The unmanned aerial vehicle formation autonomous dynamic landing recovery system based on multi-sensor fusion of claim 1, wherein the first landing plate and the second landing plate are each provided with a plurality of sensors.
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