CN204809917U - Automatic charging system of small -size many rotor unmanned aerial vehicle - Google Patents
Automatic charging system of small -size many rotor unmanned aerial vehicle Download PDFInfo
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- CN204809917U CN204809917U CN201520450064.1U CN201520450064U CN204809917U CN 204809917 U CN204809917 U CN 204809917U CN 201520450064 U CN201520450064 U CN 201520450064U CN 204809917 U CN204809917 U CN 204809917U
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Abstract
The utility model discloses an automatic charging system of small -size many rotor unmanned aerial vehicle, including unmanned aerial vehicle and ground charging station, wherein unmanned aerial vehicle includes power detecting module, communication module and flight control module, and the ground charging station is equipped with the robot that charges for receive the instruction of charging station and charge at the unmanned aerial vehicle of ground charging station to descending, charge the robot including surveying module, drive module, the travel control module and the module of charging. Compared with the prior art, the utility model discloses an unmanned aerial vehicle selects the ground charging station to carry out the automation nearby to charge, makes its continuation of the journey mileage increase by a wide margin, and the task continuity is strengthened greatly to combine automatic searching the in realization unmanned aerial vehicle berths such as techniques such as infrared detection, drive control, infrared communication, it needs unmanned aerial vehicle to carry out position adjustment's problem by oneself to have overcome when charging.
Description
Technical field
The utility model relates to a kind of small-sized many rotor wing unmanned aerial vehicles automatic charging system, belongs to unmanned air vehicle technique field.
Background technology
Along with continuous maturation and the development of unmanned air vehicle technique, because unmanned plane has advantage of lower cost, risk that no one was injured, survival ability is strong, mobility is good, the advantage such as easy to use, make unmanned plane application in civilian more extensive, main application market comprises: Aerial photography, aeroplane photography, geology and geomorphology is surveyed and drawn, forest fire protection, seismic survey, nuclear radiation detection, border patrol, emergency disaster relief, Crop Estimation, agricultural land information is monitored, pipeline, ultra-high-tension power transmission line is patrolled, the conservation of wildlife, scientific experiment, maritime affairs are scouted, the movement pattern of fish is monitored, environmental monitoring, air samples, increase rain, resource exploration, the prohibition of drug, anti-terrorism, police investigation patrol, security monitoring, fire-fighting is taken photo by plane investigation, communication repeating, urban planning, multiple fields such as digitalized city construction, due to the strict demand of aeronautical product to fail safe and the reason of air traffic control, people are not dared to inquire.At a few years from now on, it will be the epoch of General Aviation cause and unmanned plane career development.According to analysis, the market demand of a large amount of civilian unmanned plane of Lai Jinian China, unmanned plane application distant view is better, but present stage related application be also in the primary stage not yet forming scale.Existing many rotor wing unmanned aerial vehicles, major advantage is can VTOL, and lower to site requirements, have Safety Redundancy, fail safe is higher, can the total class of load extensive, therefore will obtain widespread adoption market.But the flight theory of existing battery technology and many rotor wing unmanned aerial vehicles, determines the hang time of many rotor wing unmanned aerial vehicles, course continuation mileage is a very large short slab.
It is investigated, Chinese patent ZL201220461117 discloses a kind of unmanned plane and automatic charging system thereof, is dropped to automatic charging charging base station realizing unmanned plane by unmanned plane.But in the program, charging device is fixing, need the position adjusting unmanned plane, unmanned plane is dropped on charging device exactly and could realize charging.For electric quantity of power supply originally with regard to little unmanned plane, if repeatedly adjust landing place, obviously can bring very large burden.
Utility model content
Goal of the invention: for problems of the prior art, the utility model provides a kind of small-sized many rotor wing unmanned aerial vehicles automatic charging system, by arranging charging robot in ground charging station, automatically the unmanned plane berthed detected and charge, to improve course continuation mileage and the Mission Continuation of unmanned plane.
Technical scheme: for achieving the above object, the utility model adopts following technical scheme:
A kind of small-sized many rotor wing unmanned aerial vehicles automatic charging system, comprise unmanned plane and ground charging station, described unmanned plane comprises: power detecting module, for detecting supply voltage and exporting the signal the need of charging; Communication module, with power detecting model calling, sends charge request for charging station earthward, and receives ground charging station feedack, and whether described information comprises permits to charge and the target location of landing; And flight control modules, being connected with communication module, dropping to the target location of specifying for controlling unmanned plane; Described ground charging station is provided with charging robot, instruction for receiving charging station is charged to the unmanned plane dropping to ground charging station, described charging robot comprises: detecting module, for detecting target area, exports the result of detection whether target area has unmanned plane; Driver module, moves for driving charging robot and controls moving direction; Travel control module, be connected respectively with detecting module and driver module, for the result of detection exported according to detecting module, obtain the relative position information of unmanned plane and charging robot, output mobile signal and moving direction signal are to driver module; And charging module, be provided with two electrode slices, the electrode slice for the charge power supply with unmanned plane docks.
As preferably, described unmanned plane is provided with multiple infrarede emitting diode, and the modulation code of the signal that each infrarede emitting diode sends is different, and described detecting module comprises four infrared remote receivers being located at charging robot front, rear, left and right four direction respectively.
As preferably, the infrarede emitting diode on described unmanned plane is separately positioned on immediately below each rotor of unmanned plane, and between two of the charge power supply of unmanned plane electrode slices.
As preferably, described detecting module also comprises ultrasonic sensor.
As preferably, described driver module comprises two stepping motors, and each motor drives the front-wheel of each self-driven charging robot, by the speed difference control moving direction of two front-wheels.
As preferably, described charging robot also comprises: voltage acquisition module, measures the supply voltage of unmanned plane during for charging; And display module, for showing the supply voltage of unmanned plane.
Beneficial effect: compared with prior art, the utility model tool has the following advantages: 1, by the information interaction of unmanned plane and ground charging station, unmanned plane can select ground charging station to carry out automatic charging nearby, and its course continuation mileage significantly increases, and Mission Continuation is strengthened greatly.2, after unmanned plane drops to ground charging station, do not need to carry out position adjustment again, carry out automatic detection by charging robot and initiatively move to unmanned plane front carrying out charging docking, alleviate the burden of unmanned plane.3, by arranging multiple infrarede emitting diode and arrange infrared remote receiver on unmanned plane on charging robot four direction, the landing place of unmanned plane accurately and timely can be detected, and the direction of unmanned plane and the position of charge power supply can be found accurately.And ultrasonic sensor is set further, to strengthen adaptive capacity to environment, auxiliary effect can being played to the detection of infrared sensor, making up the deficiency of infrared sensor because producing by external light influence.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model embodiment.
Embodiment
Below in conjunction with specific embodiment, illustrate the utility model further, these embodiments should be understood and be only not used in restriction scope of the present utility model for illustration of the utility model, after having read the utility model, the amendment of those skilled in the art to the various equivalent form of value of the present utility model has all fallen within the application's claims limited range.
As shown in Figure 1, the disclosed a kind of small-sized many rotor wing unmanned aerial vehicles automatic charging system of the utility model embodiment, comprise unmanned plane 10 and ground charging station 20, wherein unmanned plane 10 comprises power detecting module 11, communication module 12 and flight control modules 13, ground charging station 20 is provided with some charging robots 21, and each charging robot 21 comprises detecting module 22, travels control module 23, driver module 24 and charging module 25.Power detecting module 11 is for detecting the voltage of unmanned plane charge power supply, when voltage is lower than the threshold value set, then export the signal needing charging, when charging is required, unmanned plane 10 can send charge request by communication module 12 to neighbouring ground charging station 20 automatically or artificially, the ground charging station 20 receiving request is replied according to its current operating state and the request of load to unmanned plane 10 of charging, and response message comprises the target location of whether permitting to charge and land.After obtaining the license of ground charging station 20, unmanned plane 10 flies to the target location of the ground charging station of specifying and automatically lands under the control of flight control modules 13.
After unmanned plane 10 drops to target location, charging station 20 sends the signal landed earthward, and ground charging station 20 specifies the unmanned plane 10 of charging robot 21 to landing to carry out automatic charging.After charging robot 21 receives the instruction of charging, unmanned plane detection is carried out by detecting module 22, travel control module 23 according to orientation, result of detection determination unmanned plane place, to the signal of driver module 24 output mobile signal and moving direction, drive charging robot 21 to move to unmanned plane position.The electrode slice of the charge power supply of unmanned plane 10 can be arranged on the position in dead ahead on foot rest, after charging robot 21 moves to the dead ahead of unmanned plane 10, two of charging module 25 electrode slices are docked with two electrode slices of the charge power supply on unmanned plane 10, namely chargeable after electrode slice contact.After charging complete, charging robot 21 automatically disengages unmanned plane 10, or does not complete charging but unmanned plane 10 when needing to execute the task at once, also automatically disengages unmanned plane 10 after charging robot 21 receives the instruction of complete charge.Whole charging process all realizes automation, intellectuality, keeps an eye on without the need to special messenger.
In order to the robot 21 that charges can detect exactly position that unmanned plane 10 berths and towards, unmanned plane 10 arranges multiple infraluminescence diode, each infraluminescence diode sends mutually different modulation codes single separately, charging robot 21 on detecting module 22 be mainly be arranged on robot front and back and left and right four direction on four infrared remote receivers, each infrared remote receiver carries out timing probe to a direction.After the infrared remote receiver on one of them direction receives the signal of the infraluminescence diode transmitting on unmanned plane 10, just the direction of adjustment charging robot 21, makes it just facing to unmanned plane 10, continues detection.In order to identify the position of charge power supply electrode slice exactly, in two electrode slice centre positions, an infraluminescence diode is set, remaining infraluminescence diode is separately positioned on immediately below each rotor of unmanned plane, for the SUAV of 4 rotors, 5 infraluminescence diodes are generally set.
The multiple light courcess signal that traveling control module 23 selects the strongest infrared remote receiver of Received signal strength to receive from four infrared remote receivers is analyzed, infrared remote receiver obtains the distance with each Light-Emitting Diode on unmanned plane 10 according to the induced voltage Strength co-mputation of Received signal strength, by the three-dimensional coordinate that Light-Emitting Diode each on unmanned plane 10 is known, the method of Distance Intersection is adopted to obtain the three-dimensional coordinate position of infrared remote receiver relative to unmanned plane, the position of charging robot 21 is adjusted based on this three-dimensional coordinate information, make the dead ahead of robot 21 dead ahead towards unmanned plane of charging, and constantly detection and constantly adjustment in the process of moving, ensure when unmanned plane, just accurately docking realizes to the electrode slice of charge power supply.
The front-wheel drive motor of two stepping motors as charging robot 21 is mainly employed in driver module 24, there is two kinds, the direction function that drive machines people moves and selects robot movement, control the speed difference of two front-wheels by control step motor, the accurate control in direction can be realized.Detecting module 22 also comprises a ultrasonic sensor, to play auxiliary effect to the detection of infrared sensor, makes up the deficiency of infrared sensor because producing by external light influence.When unmanned plane 10 berths distant or there is light when affecting, can by the position of ultrasonic sensor sensorcraft, unmanned plane is driven towards after detecting the position of unmanned plane, accurately located by infrared communication technology again during close together, ultrasonic sensor only can install one on a direction of robot, is realized the detection of all directions by rotary machine people.
In addition, for the ease of user to observe in charging robot 21 also can by voltage acquisition module measure unmanned plane supply voltage and by the result of display module display measurement and the whether information such as charging complete.Wherein voltage acquisition module mainly comprises the A/D chip MAX144 of a slice serial, for carrying out data acquisition to supply voltage, the data gathered deliver to computing unit, compare with fiducial value, judge whether electric quantity of power supply consumption has arrived need the degree of charging or whether be full of electricity, the data gathered are delivered to display module simultaneously and carry out showing for pointing out user.Display module can use a slice driven in series chip MAX7219 to drive the LED of four, makes its information such as timesharing displaying time and supply voltage number.
Small-sized many rotor wing unmanned aerial vehicles automatic charging system of the utility model embodiment, the Detection Techniques of the existing infrared sensor of integrated use and ultrasonic sensor, the Driving technique of stepping motor, serial a/d technology, driven in series Display Technique, infrared communication technology etc. achieves Automatic-searching unmanned plane berth and unmanned plane is carried out to the function of automatic charging, be applied to small-sized many rotor wing unmanned aerial vehicles field, its course continuation mileage is significantly increased, and Mission Continuation is strengthened greatly, is with a wide range of applications.
Claims (6)
1. small-sized many rotor wing unmanned aerial vehicles automatic charging system, is characterized in that, comprises unmanned plane and ground charging station, and described unmanned plane comprises:
Power detecting module, for detecting supply voltage and exporting the signal the need of charging;
Communication module, with power detecting model calling, sends charge request for charging station earthward, and receives ground charging station feedack, and whether described information comprises permits to charge and the target location of landing;
And flight control modules, being connected with communication module, dropping to the target location of specifying for controlling unmanned plane;
Described ground charging station is provided with charging robot, charges to the unmanned plane dropping to ground charging station for the instruction receiving charging station, and described charging robot comprises:
Detecting module, for detecting target area, exports the result of detection whether target area has unmanned plane;
Driver module, moves for driving charging robot and controls moving direction;
Travel control module, be connected respectively with detecting module and driver module, for the result of detection exported according to detecting module, obtain the relative position information of unmanned plane and charging robot, output mobile signal and moving direction signal are to driver module;
And charging module, be provided with two electrode slices, the electrode slice for the charge power supply with unmanned plane docks.
2. small-sized many rotor wing unmanned aerial vehicles automatic charging system according to claim 1, it is characterized in that, described unmanned plane is provided with multiple infrarede emitting diode, the modulation code of the signal that each infrarede emitting diode sends is different, and described detecting module comprises four infrared remote receivers being located at charging robot front, rear, left and right four direction respectively.
3. small-sized many rotor wing unmanned aerial vehicles automatic charging system according to claim 2, it is characterized in that, infrarede emitting diode on described unmanned plane is separately positioned on immediately below each rotor of unmanned plane, and between two of the charge power supply of unmanned plane electrode slices.
4. small-sized many rotor wing unmanned aerial vehicles automatic charging system according to claim 2, it is characterized in that, described detecting module also comprises ultrasonic sensor.
5. small-sized many rotor wing unmanned aerial vehicles automatic charging system according to claim 1, it is characterized in that, described driver module comprises two stepping motors, and each motor drives the front-wheel of each self-driven charging robot, by the speed difference control moving direction of two front-wheels.
6. small-sized many rotor wing unmanned aerial vehicles automatic charging system according to claim 1, is characterized in that, described charging robot also comprises: voltage acquisition module, measures the supply voltage of unmanned plane during for charging; And display module, for showing the supply voltage of unmanned plane.
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| CN201520450064.1U CN204809917U (en) | 2015-06-26 | 2015-06-26 | Automatic charging system of small -size many rotor unmanned aerial vehicle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105048533A (en) * | 2015-06-26 | 2015-11-11 | 南京衡创天伟无人机技术有限公司 | Small multi-rotor unmanned aerial vehicle automatic charging system |
| CN105416597A (en) * | 2015-12-07 | 2016-03-23 | 上海云犀智能系统有限公司 | Automatic charging device for unmanned aerial vehicle and unmanned aerial vehicle |
| CN106093330A (en) * | 2016-06-28 | 2016-11-09 | 安庆市佰斯特电子科技有限公司 | A kind of water conservancy environmental monitoring aircraft charging pile |
| CN106505697A (en) * | 2017-01-03 | 2017-03-15 | 上海量明科技发展有限公司 | From seeking formula flight charger, system and method |
| CN106712206A (en) * | 2017-01-25 | 2017-05-24 | 上海量明科技发展有限公司 | Charging method, flying charging equipment and system |
| CN107239078A (en) * | 2017-06-26 | 2017-10-10 | 中国人民解放军国防科学技术大学 | A kind of unmanned plane base station selection and patrol method for optimizing route and device |
| WO2018094863A1 (en) * | 2016-11-28 | 2018-05-31 | 纳恩博（北京）科技有限公司 | Positioning method and apparatus, and computer storage medium |
-
2015
- 2015-06-26 CN CN201520450064.1U patent/CN204809917U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105048533A (en) * | 2015-06-26 | 2015-11-11 | 南京衡创天伟无人机技术有限公司 | Small multi-rotor unmanned aerial vehicle automatic charging system |
| CN105048533B (en) * | 2015-06-26 | 2017-11-24 | 南京衡创天伟无人机技术有限公司 | Small-sized multi-rotor unmanned aerial vehicle automatic charging system |
| CN105416597A (en) * | 2015-12-07 | 2016-03-23 | 上海云犀智能系统有限公司 | Automatic charging device for unmanned aerial vehicle and unmanned aerial vehicle |
| CN106093330A (en) * | 2016-06-28 | 2016-11-09 | 安庆市佰斯特电子科技有限公司 | A kind of water conservancy environmental monitoring aircraft charging pile |
| WO2018094863A1 (en) * | 2016-11-28 | 2018-05-31 | 纳恩博（北京）科技有限公司 | Positioning method and apparatus, and computer storage medium |
| CN106505697A (en) * | 2017-01-03 | 2017-03-15 | 上海量明科技发展有限公司 | From seeking formula flight charger, system and method |
| CN106505697B (en) * | 2017-01-03 | 2024-02-27 | 上海量明科技发展有限公司 | Self-seeking type flight charging equipment, system and method |
| CN106712206A (en) * | 2017-01-25 | 2017-05-24 | 上海量明科技发展有限公司 | Charging method, flying charging equipment and system |
| CN107239078A (en) * | 2017-06-26 | 2017-10-10 | 中国人民解放军国防科学技术大学 | A kind of unmanned plane base station selection and patrol method for optimizing route and device |
| CN107239078B (en) * | 2017-06-26 | 2020-03-27 | 中国人民解放军国防科学技术大学 | Unmanned aerial vehicle base station site selection and patrol path optimization method and device |
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