CN208897320U - It is a kind of interior unmanned plane rise, drop, charging system - Google Patents
It is a kind of interior unmanned plane rise, drop, charging system Download PDFInfo
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- 230000000007 visual effect Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 6
- 239000003550 marker Substances 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 230000019771 cognition Effects 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 238000010295 mobile communication Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 2
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- 238000012360 testing method Methods 0.000 description 6
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- 238000003032 molecular docking Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000004927 fusion Effects 0.000 description 1
- 239000011551 heat transfer agent Substances 0.000 description 1
- 238000006386 neutralization reaction Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The utility model discloses a kind of indoor unmanned planes to rise, drop, charging system, including an at least unmanned plane, at least a landing charging platform, charging unit and System Control Center；System Control Center is connected with unmanned plane, landing charging platform wireless communication respectively；System Control Center monitors unmanned plane and is detached from that the takeoff operational of landing charging platform, unmanned plane is down on landing charging platform in landing place hovering and fixed landing operation, unmanned plane connect by landing charging platform the charging operations of charging unit in takeoff setting.The System Control Center of the application can monitor the information of unmanned plane and landing charging platform, and unmanned plane can independently take off, lands and charge, and realize the full-automatic intelligent management of indoor unmanned plane during flying.
Description
Technical field
The utility model relates to unmanned plane indoor application technical field, in particular to a kind of indoor unmanned plane rises, drop, charges
System.
Background technique
Unmanned plane is the abbreviation of UAV (English: Unmanned Aerial Vehicle, abbreviation: UAV), is
Utilize the unmanned vehicle of radio robot and the presetting apparatus provided for oneself manipulation.It is defined from technical standpoint, nothing
It is man-machine to be divided into: unmanned helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc..
In recent years, with the fast development of unmanned air vehicle technique, the application field of unmanned plane has also obtained great extension, than
Such as indoor unmanned plane field.Interior Development of UAV is still in the primary stage at present, due to unmanned plane shape and forms of motion spirit
Work it is changeable, can replace people operation be not necessarily to complex operations operation flow, such as unmanned plane can office deliver coffee or
File helps people to go to put article, house security etc. from warehouse.There are also bigger development skies for the application of unmanned plane indoors
Between, and this is that urgently people excavate project.
Currently, being confined to the factors such as body size, the flight time is very short in the sky for small-sized multi-rotor unmanned aerial vehicle, cruising ability
Difference needs often to charge, and in the prior art, it is dropped on landing platform controlling unmanned plane by landing bootstrap technique
Afterwards, unmanned plane stop position on landing platform may be that unmanned plane charging is made troubles to staff, be not suitable for big rule
Mould disposes unmanned plane and carries out office operation.
Utility model content
To solve the above-mentioned problems, the technical solution of the utility model is:
It is a kind of interior unmanned plane rise, drop, charging system, including an at least unmanned plane, an at least landing charging platform,
Charging unit and System Control Center；
The System Control Center is connected with the unmanned plane, landing charging platform wireless communication respectively；The system
System control centre monitoring unmanned plane is in the takeoff operational that takeoff setting is detached from landing charging platform and flies up, unmanned plane in landing position
Set that hovering is down on landing charging platform and fixed landing operation, unmanned plane by landing charging platform connect charging unit
Charging operations.
Preferably, the motion profile of System Control Center the real time monitoring unmanned plane and landing charging platform；The fortune
Dynamic rail mark includes:
Before the takeoff operational, unmanned plane and landing charging platform move to the track of the takeoff setting；
Before the landing operation, unmanned plane or/and landing charging platform move to the track of the landing place；With
And
During the charging operations, unmanned plane in-flight lands and is fixed on the track on landing charging platform, institute
State the track that unmanned plane moves to charging unit with charging landing platform.
Preferably, the unmanned plane includes unmanned aerial vehicle (UAV) control device, UAV Communication module, unmanned plane detection module and nothing
Man-machine TRAJECTORY CONTROL module；
The System Control Center passes through the UAV Communication module and the unmanned aerial vehicle (UAV) control device two-way communication；It is described
Unmanned aerial vehicle (UAV) control device controls the motion profile of unmanned plane by the unmanned plane TRAJECTORY CONTROL module；The System Control Center is logical
Cross the detection information that UAV Communication module receives the unmanned plane detection module.
Preferably, the unmanned plane detection module includes the unmanned plane room Nei Chang communicated to connect respectively with System Control Center
Scape detection unit, unmanned plane electric power detection unit and unmanned plane position detection unit；
The unmanned plane indoor scene detection unit detects indoor marker, carries out Visual Feature Retrieval Process to indoor arrangement,
And the motion conditions of object in real-time detection room realize the cognition to flying scene；The unmanned plane electric power detection unit is real
When detect unmanned plane electricity, the position of the unmanned plane position detection unit real-time detection unmanned plane.
Preferably, the System Control Center is set to indoor specific identifier object by the detection of unmanned plane position detection unit
Or extract the position that visual signature calculates unmanned plane.
Preferably, the landing charging platform includes landing charging platform controller, landing charging platform communication module, rises
Charging platform TRAJECTORY CONTROL module, landing charging platform detection module and landing mark drop；
The System Control Center passes through the landing charging platform communication module and the landing charging platform controller
Two-way communication；The System Control Center receives the landing charging platform by the landing charging platform communication module and detects
The detection signal of module；The unmanned plane is by detecting the landing landmark identification landing charging platform；The landing chargin level
Platform controller controls the motion profile of the landing charging module by the landing charging platform TRAJECTORY CONTROL module.
Preferably, the landing charging platform detection module includes that the landing respectively with System Control Center communication connection is filled
Level platform position detection unit and landing charging platform indoor scene detection module；
The position of the landing charging platform position detecting module real-time detection landing charging platform, the indoor scene inspection
Survey module real-time detection indoor environment.
Preferably, the System Control Center is set to indoor specific by the detection of landing position of platform detection unit
Marker extracts the position that visual signature calculates unmanned plane.
Preferably, the landing charging platform further includes unmanned plane contraposition module, unmanned plane charging to connection module and nothing
Man-machine fixed module；
The landing charging platform controller controls unmanned plane and landing charging platform by the unmanned plane contraposition module
It is aligned with touch down attitude；
When charging, the unmanned plane is charged by the unmanned plane and connects the charging unit to connection module；
After the unmanned plane drops down onto landing charging platform, System Control Center passes through the fixed nothing of the unmanned plane fixed module
It is man-machine.
Preferably, the unmanned plane and the communication connection of landing charging platform, the unmanned plane and landing charging platform are voluntarily
Matching, to carry out the charging operations, landing operation and charging operations.
Preferably, the wireless communication is any of following communication mode: the Global System for Mobile Communication of 3GPP
(GSM), Universal Mobile Terrestrial system (UMTS), LTE and LTE-A standard or 3GPP2 CDMA2000 (1xRTT, 2xEV-DO,
HRPD, eHRPD standard), Wireless LAN interlinkage agreement, personal area network interlinkage agreement.
Compared with the existing technology, the beneficial effects of the utility model are:
1, in the application, System Control Center monitors the information of unmanned plane and landing charging platform, realizes unmanned plane oneself
It is dynamic to take off, land and charge, plan as a whole the intelligent management of indoor UAV system, and various dimensions realize the automatic of unmanned plane
Change control.
2, the application dispatches landing charging platform according to the operating condition zoarium of unmanned plane, improves unmanned plane to greatest extent and makees
Industry practice, has high flexibility ratio.
Detailed description of the invention
Fig. 1 be the application room in unmanned plane landing, drop, charging system structural schematic diagram；
Fig. 2 be the application room in unmanned plane landing, drop, charging system block diagram；
Fig. 3 is the block diagram of the unmanned plane of the application；
Fig. 4 is the block diagram of the landing charging platform of the application.
Wherein, 101, drone body, 101-1, undercarriage, 102, landing platform 102,103, charging structure 103,104, solid
Determine structure 104,105, charging docking structure 105.
Specific embodiment
The specific embodiment of utility model is described in detail with reference to the accompanying drawing.Obviously, described embodiment
Only the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, ability
It is practical new to belong to this for domain those of ordinary skill every other embodiment obtained without making creative work
The range of type protection.
The application provide a kind of indoor unmanned plane rise, drop, charging system, referring to Fig. 1, the unmanned plane have it is vertical
Landing and hovering function, by taking quadrotor drone as an example, from physical structure angle, unmanned plane includes drone body 101 and rises
Frame 101-1 is fallen, undercarriage 101-1 is symmetricly set in drone body 101, is used to support body, is avoided below unmanned plane
Carry equipment touches ground.Certainly, the unmanned plane of the application is not limited to quadrotor drone.
Referring to Fig. 2, indoor unmanned plane rises, drop, charging system include an at least unmanned plane, at least a landing charging
Platform, charging unit and System Control Center.System Control Center connects with unmanned plane, landing charging platform wireless communication respectively
It connects；System Control Center monitoring unmanned plane is in being down to the operation that takeoff setting is detached from landing charging platform and takes off, unmanned plane
It drops on charging platform and fixed landing operation and unmanned plane connects the charging operations of charging unit by landing charging platform.
Above-mentioned takeoff operational, landing operation and charging operations, are required to unmanned plane and landing charging platform has cooperated
At, when having more unmanned planes and landing charging platform in system, unmanned plane and landing charging platform can correspond matching,
Can also be when unmanned plane be operated, System Control Center matches the landing charging platform being in standby for it.
In former matching way, unmanned plane and the matched logical relation of landing charging platform are simpler, and system is easier to control, but bad
Gesture is that not as good as latter matching way, the application is described in detail on the basis of latter matching way below in the flexibility of system.
System Control Center and unmanned plane, landing charging platform are two-way communication link, in order to monitor above-mentioned rise
Fly operation, landing operation and charging operations.Specifically, during takeoff operational, landing operation and charging operations, a side
Face unmanned plane and landing charging platform send relevant information to System Control Center in real time, on the other hand, System Control Center
The received information is handled, and reference process result control unmanned plane and landing charging platform.At this unmanned plane and rise
The type of " relevant information " that charging platform is sent is dropped depending on specific operating condition, such as can be location information, posture information
Deng.
Above-mentioned takeoff operational flies up dynamic including at least the disengaging movement of unmanned plane disengaging landing charging platform, unmanned plane
Make.Taking off for unmanned plane has requirement to space, thus above-mentioned " takeoff setting " needs to meet the space that unmanned plane takes off and want
It asks, certainly, the specific size in space is depending on the concrete condition of unmanned plane.
Above-mentioned landing operation include at least unmanned plane hover hovering movement above landing charging platform, unmanned plane with
Landing charging platform carries out alignment operation (keeping the posture of the two corresponding), unmanned plane lands and is fixed on landing charging platform
Fixed movement.Unmanned plane, which equally has space in landing, to be required, thus above-mentioned " landing place " needs to meet landing
Space requirement.
Above-mentioned charging operations include at least unmanned plane connect with charging posture with landing charging platform, landing charging platform
It is electrically connected with charging unit.Wherein, when landing charging platform is connect with charging unit, it is thus necessary to determine that believe the position of charging unit
It ceases, in the application, the location information of charging unit can be stored in advance in System Control Center or/and landing charging platform.On
Charging pile, indoor socket etc. can be used in the charging unit stated.
In the application, System Control Center monitors the information of unmanned plane and landing charging platform, realizes the automatic of unmanned plane
Take off, land and charge, planned as a whole the intelligent management of indoor UAV system, and realize indoor unmanned plane during flying it is complete from
Dynamic intelligent management.
Specifically, the motion profile of System Control Center real time monitoring unmanned plane and landing charging platform, the motion profile
Including but not limited to following three aspects:
First, before takeoff operational, unmanned plane and landing charging platform move to the track of above-mentioned takeoff setting；Consider
It arrives, which may be unmanned plane position or landing charging platform position or other positions instantly instantly, therefore, at this
Motion profile may be the motion profile of landing charging platform or the motion profile of unmanned plane or landing charging platform and nobody
The common motion profile of machine.
Second, before landing operation, unmanned plane or/and landing charging platform move to the track of above-mentioned landing place；Drop
Before falling, it is contemplated that the landing place may be unmanned plane position or landing charging platform position or other positions instantly instantly,
Therefore the motion profile at this may be the motion profile of landing charging platform or the motion profile of unmanned plane or landing chargin level
Platform and the common motion profile of unmanned plane.
Third, during charging operations, unmanned plane in-flight lands and is fixed on the track on landing charging platform, nothing
The man-machine track that charging unit is moved to charging landing platform.Unmanned plane needs to be fixed on landing charging platform, by rising
Drop charging platform charges, when therefore, it is necessary to charge, if unmanned plane is already fixed on landing charging platform, at this
Motion profile be landing charging platform motion profile；It, should if unmanned plane is in discrete state in landing charging platform
The motion profile at place is unmanned plane and the common motion profile of landing charging platform.
Specifically, referring to Fig. 3, unmanned plane includes unmanned aerial vehicle (UAV) control device, UAV Communication module, unmanned plane detection module
And unmanned plane TRAJECTORY CONTROL module.
System Control Center passes through UAV Communication module and the two-way communication of unmanned aerial vehicle (UAV) control device: System Control Center is to nothing
Human-machine Control device sends operational order, and to indirectly control the movement of unmanned plane, which such as takes off instruction, unmanned plane control
Device processed receives the operational order, and directly controls unmanned plane movement；Unmanned aerial vehicle (UAV) control device sends unmanned plane to System Control Center
The information such as electricity and position.
Unmanned aerial vehicle (UAV) control device controls unmanned plane running track by unmanned plane TRAJECTORY CONTROL module.Unmanned plane TRAJECTORY CONTROL mould
Block carries out fusion realization by a variety of heat transfer agent sources.Unmanned plane TRAJECTORY CONTROL module sends control instruction to unmanned aerial vehicle (UAV) control device,
The winged control algorithm that unmanned aerial vehicle (UAV) control device combines unmanned aerial vehicle (UAV) control device to be pre-loaded with by these instructions, to unmanned plane TRAJECTORY CONTROL mould
Block sends control information；Unmanned plane TRAJECTORY CONTROL module controls the running of propeller according to these information to realize that unmanned plane flies
Row TRAJECTORY CONTROL.
System Control Center receives the detection signal of unmanned plane detection module by UAV Communication module.Unmanned machine testing
The parameter such as environmental parameter, information about power etc. of module detection, System Control Center storage receives detection information, and combines unmanned plane
The information such as the feedback of controller are managed unmanned plane.
Further, unmanned plane detection module includes the unmanned plane indoor scene communicated to connect respectively with System Control Center
Detection unit, unmanned plane electric power detection unit and unmanned plane position detection unit.
Unmanned plane indoor scene detection unit passes through UAV Communication module to System Control Center one-way communication.Unmanned plane
Indoor scene detection unit real-time detection indoor environment specifically such as detects indoor barrier in the sky, in order in system control
Heart judgement can flight space etc.；For another example, indoor marker is detected, visual signature, and real-time detection room are extracted to indoor arrangement
The motion conditions of interior object, including other unmanned planes and landing charging platform, to realize the cognition to flying scene.At this
Marker such as radio-frequency apparatus, mark image etc..
The electricity of unmanned plane electric power detection unit real-time detection unmanned plane, and controlled by UAV Communication unit to system
Center sends detection information in real time, and System Control Center judges whether unmanned plane charges according to its testing result.
The position of unmanned plane position detection unit real-time detection unmanned plane, and controlled by UAV Communication unit to system
Center sends detection information in real time, and System Control Center determines the flight path of unmanned plane according to its testing result.
Further, unmanned plane position detection unit can be by being set to indoor specific identifier object or passing through visual signature
The mode of extraction is detected, the specific identifier object such as radio-frequency apparatus, mark image etc., the visual signature such as light stream etc..
Specifically, referring to Fig. 4, landing charging platform includes landing charging platform controller, the communication of landing charging platform
Module, landing charging platform TRAJECTORY CONTROL module, landing charging platform detection module and landing mark.
Landing charging platform controller passes through landing charging platform communication module and System Control Center two-way communication.In detail
For, one side System Control Center sends control instruction, such as charging instruction to landing charging platform controller, on the other hand
Landing charging platform controller is to System Control Center back-to-back running state.
Landing charging platform detection module detects the information such as indoor environment, and passes through landing charging platform communication module and be
System control centre's one-way communication, motion profile of the System Control Center with reference to its detection information planning landing charging platform.
Unmanned plane is by landing mark identification landing charging platform, when being used especially in unmanned plane landing.
Further, landing charging platform detection module includes charging respectively with the landing of System Control Center one-way communication
Position of platform detection unit, landing charging platform indoor scene detection unit.
Landing charging platform position detection unit is detected by indoor specific identifier object or by Visual Feature Retrieval Process,
And will test result and be driven by landing charging platform communication module to System Control Center, System Control Center is according to the detection
As a result the motion profile of landing charging platform is planned.
Landing charging platform indoor scene detection unit is detected from ground detection indoor environment, such as barrier, system control
Center processed combines the motion profile of testing result planning landing charging platform.
Further, please continue to refer to Fig. 4, landing charging platform further includes unmanned plane contraposition module, unmanned plane charging pair
Connection module and unmanned plane fixed module.
Unmanned plane contraposition module is directly controlled by landing charging platform controller, fills unmanned plane with landing in landing
Level platform is aligned with touch down attitude.Unmanned plane and landing charging platform needs are attached with certain posture, i.e. landing appearance
State.
When charging, unmanned plane connects landing charging platform, and connects charging unit to connection module by unmanned plane and fill
Electricity.
After unmanned plane drops down onto landing charging platform, System Control Center passes through the fixed unmanned plane of unmanned plane fixed module.
Referring to Fig. 1, landing charging platform includes landing platform 102, fixed structure 104, charging structure from physically
103 and charging docking structure 105.
Fixed structure 104 is mounted on landing platform 102, corresponding above-mentioned unmanned plane fixed module.Unmanned plane is grasped in landing
Make to be fixed on landing charging platform by fixed structure 104 in neutralization charging operations.Fixed structure 104 is charged by landing
Platform controller automatically controls, and any one of locking buckle, electromagnet, steering engine, external force push rod can be used in fixed structure 104.
Charging structure 103 is arranged on landing platform 102, and for the sake of beautiful and safety, part-structure is placed in landing platform 102
Inside, and the part connecting with charging unit is external.
The docking structure 105 that charges is arranged on landing platform 102, and for the sake of beautiful and safety, part-structure is placed in landing
Inside platform 102, the part connecting with unmanned plane is external.When unmanned plane charges, it is different from the connection posture of landing platform 102 logical
Normal fixed pose, and need to keep touch down attitude, which connects landing platform by charging structure 103
102 posture.
Be exemplified below indoor unmanned plane rise, drop, charging system Part load the application is further described.
Unmanned plane flies indoors, and when executing inter-related task, unmanned plane detection module detects location information, the electricity of unmanned plane
It is sent in system control when measuring information and indoor environment information etc., and will test fructufy by UAV Communication module
The heart, System Control Center real-time storage and the processing information.Meanwhile System Control Center real-time storage and processing landing chargin level
The detection information of platform detection module.
When encounter System Control Center calculate unmanned plane not enough power supply, task execution finish landed, nobody
When machine sends the either cases such as landing request, System Control Center is by the information that unmanned plane and each landing charging platform detect
Unmanned plane distributes suitable landing charging platform, and the path of motion of Dynamic Programming unmanned plane and the landing charging platform, planning
When path of motion, System Control Center comprehensively considers the factors such as indoor environment, operation possibility and makes rational planning for.In descent,
When unmanned plane hovering is after on landing charging platform, System Control Center controls unmanned plane or/and landing charging platform coordinates angle
Degree is to touch down attitude, for unmanned plane vertical landing.
The above-mentioned angle for controlling unmanned plane and landing charging platform from System Control Center has been described in detail the application, examines
Consider alternative scheme, unmanned plane can also be matched voluntarily with landing charging platform, specifically, unmanned aerial vehicle (UAV) control device and landing charging
Platform controller is communicatively coupled by UAV Communication module and landing charging platform module, to carry out charging operations, drop
Fall operation and charging operations.
Communication mentioned above, as between System Control Center and unmanned aerial vehicle (UAV) control device, landing charging platform controller
The communication etc. between platform controller is successfully put in communication, unmanned aerial vehicle (UAV) control device and landing, and following any communication party can be used
Formula: Global System for Mobile Communication (GSM), Universal Mobile Terrestrial system (UMTS), LTE and LTE-A standard or the 3GPP2 of 3GPP it
CDMA2000 (1xRTT, 2xEV-DO, HRPD, eHRPD standard), Wireless LAN interlinkage agreement, personal area network link
Agreement.Wherein, Wireless LAN interlinkage agreement such as IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), personal office
Domain network linking agreement such as Bluetooth.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above.Current row
The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments
Only illustrate one of the utility model application, on the premise of not departing from the spirit and scope of the utility model, this is practical new
Type will also have various changes and improvements, and these various changes and improvements fall within the scope of the claimed invention.This is practical
Novel claimed range is defined by the appending claims and its equivalent thereof.
Claims (11)
1. a kind of interior unmanned plane rises, drop, charging system, which is characterized in that including an at least unmanned plane, at least a landing
Charging platform, charging unit and System Control Center；
The System Control Center is connected with the unmanned plane, landing charging platform wireless communication respectively；The system control
Center monitoring unmanned plane processed is detached from landing charging platform and carries out takeoff operational, unmanned plane and hovers in landing place in takeoff setting
It is down on landing charging platform and fixed landing operation and unmanned plane passes through landing charging platform and connect filling for charging unit
It is electrically operated.
2. interior unmanned plane as described in claim 1 rises, drop, charging system, which is characterized in that the System Control Center is real
When monitor unmanned plane and landing charging platform motion profile；The motion profile includes:
Before the takeoff operational, unmanned plane and landing charging platform move to the track of the takeoff setting；
Before the landing operation, unmanned plane or/and landing charging platform move to the track of the landing place；And
During the charging operations, unmanned plane in-flight lands and is fixed on the track on landing charging platform, the nothing
The man-machine track that charging unit is moved to charging landing platform.
3. interior unmanned plane as claimed in claim 2 rises, drop, charging system, which is characterized in that the unmanned plane includes for nobody
Machine controller, UAV Communication module, unmanned plane detection module and unmanned plane TRAJECTORY CONTROL module；
The System Control Center passes through the UAV Communication module and the unmanned aerial vehicle (UAV) control device two-way communication；It is described nobody
Machine controller controls the motion profile of unmanned plane by the unmanned plane TRAJECTORY CONTROL module；The System Control Center passes through nothing
Man-machine communication module receives the detection information of the unmanned plane detection module.
4. interior unmanned plane as claimed in claim 3 rises, drop, charging system, which is characterized in that the unmanned plane detection module
Including respectively with System Control Center communication connection unmanned plane indoor scene detection unit, unmanned plane electric power detection unit and
Unmanned plane position detection unit；
The unmanned plane indoor scene detection unit detects indoor marker, carries out Visual Feature Retrieval Process to indoor arrangement, and
The motion conditions of object in real-time detection room realize the cognition to flying scene；The unmanned plane electric power detection unit is examined in real time
Survey the electricity of unmanned plane, the position of the unmanned plane position detection unit real-time detection unmanned plane.
5. interior unmanned plane as claimed in claim 4 rises, drop, charging system, which is characterized in that the System Control Center is logical
The detection of unmanned plane detection unit is crossed to be set to indoor specific identifier object or extract the position that visual signature calculates unmanned plane.
6. interior unmanned plane as claimed in claim 2 rises, drop, charging system, which is characterized in that the landing charging platform packet
Include landing charging platform controller, landing charging platform communication module, landing charging platform TRAJECTORY CONTROL module, landing chargin level
Platform detection module and landing mark；
The System Control Center is two-way by the landing charging platform communication module and the landing charging platform controller
Communication；The System Control Center receives the landing charging platform detection module by the landing charging platform communication module
Detection signal；The unmanned plane is by detecting the landing landmark identification landing charging platform；The landing charging platform control
Device processed controls the motion profile of the landing charging module by the landing charging platform TRAJECTORY CONTROL module.
7. interior unmanned plane as claimed in claim 6 rises, drop, charging system, which is characterized in that the landing charging platform inspection
Surveying module includes the landing charging platform position detection unit communicated to connect respectively with System Control Center and landing charging platform
Indoor scene detection module；
The position of the landing charging platform position detecting module real-time detection landing charging platform, the indoor scene detect mould
Block real-time detection indoor environment.
8. interior unmanned plane as claimed in claim 7 rises, drop, charging system, which is characterized in that the System Control Center is logical
It crosses the landing charging platform position detection unit detection and calculates nobody set on indoor specific identifier object or extraction visual signature
The position of machine.
9. interior unmanned plane as claimed in claim 6 rises, drop, charging system, which is characterized in that the landing charging platform is also
Including unmanned plane contraposition module, unmanned plane charging to connection module and unmanned plane fixed module；
The landing charging platform controller controls unmanned plane and landing charging platform by the unmanned plane contraposition module to drop
Posture is fallen to be aligned；
When charging, the unmanned plane is charged by the unmanned plane and connects the charging unit to connection module；
After the unmanned plane drops down onto landing charging platform, System Control Center fixes nobody by the unmanned plane fixed module
Machine.
10. interior unmanned plane as claimed in claim 2 rises, drop, charging system, which is characterized in that the unmanned plane and landing
Charging platform communication connection, the unmanned plane and landing charging platform voluntarily match, to carry out the charging operations, landing operation
And charging operations.
11. interior unmanned plane as described in claim 1 rises, drop, charging system, which is characterized in that the wireless communication for
Lower communication mode it is any: the Global System for Mobile Communication (GSM) of 3GPP, Universal Mobile Terrestrial system (UMTS), LTE and
The CDMA2000 (1xRTT, 2xEV-DO, HRPD, eHRPD standard) of LTE-A standard or 3GPP2, Wireless LAN link association
View, personal area network interlinkage agreement.
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| CN201821275140.XU CN208897320U (en) | 2018-08-08 | 2018-08-08 | It is a kind of interior unmanned plane rise, drop, charging system |
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| CN201821275140.XU CN208897320U (en) | 2018-08-08 | 2018-08-08 | It is a kind of interior unmanned plane rise, drop, charging system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018347A (en) * | 2018-08-08 | 2018-12-18 | 祺步智能科技（上海）有限公司 | It is a kind of interior unmanned plane rise, drop, charging system |
| CN110362125A (en) * | 2019-07-10 | 2019-10-22 | 祺步智能科技（上海）有限公司 | A kind of controlling temp type reorganizes and outfit system and method automatically |
| CN109018347B (en) * | 2018-08-08 | 2024-05-03 | 星逻人工智能技术(上海)有限公司 | Indoor unmanned aerial vehicle plays, falls, charging system |
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2018
- 2018-08-08 CN CN201821275140.XU patent/CN208897320U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018347A (en) * | 2018-08-08 | 2018-12-18 | 祺步智能科技（上海）有限公司 | It is a kind of interior unmanned plane rise, drop, charging system |
| CN109018347B (en) * | 2018-08-08 | 2024-05-03 | 星逻人工智能技术(上海)有限公司 | Indoor unmanned aerial vehicle plays, falls, charging system |
| CN110362125A (en) * | 2019-07-10 | 2019-10-22 | 祺步智能科技（上海）有限公司 | A kind of controlling temp type reorganizes and outfit system and method automatically |
| CN110362125B (en) * | 2019-07-10 | 2021-04-16 | 星逻人工智能技术(上海)有限公司 | Temperature control type automatic servicing system and method |
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