CN214138881U - Unmanned ship carries on unmanned aerial vehicle take-off and landing device, take-off and landing control system - Google Patents
Unmanned ship carries on unmanned aerial vehicle take-off and landing device, take-off and landing control system Download PDFInfo
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- CN214138881U CN214138881U CN202022339056.3U CN202022339056U CN214138881U CN 214138881 U CN214138881 U CN 214138881U CN 202022339056 U CN202022339056 U CN 202022339056U CN 214138881 U CN214138881 U CN 214138881U
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Abstract
The invention discloses a semi-submersible unmanned ship carrying unmanned aerial vehicle take-off and landing device and a take-off and landing control system. It includes stop gear, No. two stop gear and hoist engine capstan winch and hoist engine motor, it has unmanned aerial vehicle to settle on the control cabin upper cover, unmanned aerial vehicle's reconnaissance module can stretch to control cabin upper cover below and press from both sides tightly fixedly by a stop gear and No. two stop gear, winding communication rope is connected with unmanned aerial vehicle's reconnaissance module on the hoist engine capstan winch, the hoist engine motor, unmanned aerial vehicle controller and No. one stop gear and No. two stop gear's control end all is connected with take-off and landing control system. The advantages are that: the unmanned aerial vehicle has the advantages that the structural design is ingenious, the installation is convenient, the operation of the semi-submersible unmanned ship taking-off and landing unmanned aerial vehicle can be realized, the unmanned aerial vehicle can be fixed after landing, and the reliability is good; the reliability of remote real-time communication with the unmanned ship is guaranteed, the unmanned aerial vehicle recovers the body and the on-board reconnaissance data after losing control, and the safety factor of the unmanned aerial vehicle during task execution is greatly improved.
Description
Technical Field
The utility model relates to an unmanned ship control technique, in particular to unmanned ship of semi-submerged formula carries on unmanned aerial vehicle take-off and land device, take-off and land control system.
Background
The development and utilization of ocean resources become a trend of the world and the country; the unmanned ship is a new ocean equipment with low maintenance cost and high use efficiency and is an indispensable important equipment in deepening ocean resource development and national ocean benefit protection; the semi-submersible unmanned ship adopts a ship body structure formed by combining a single cylinder type floating body and a small stealth control cabin, the self-righting function of the small ship is guaranteed by the structure, the swaying performance of the small ship is improved, compared with the traditional water surface unmanned ship, the radar reflecting surface of the ship body is effectively reduced, and the stealth performance of the unmanned ship when a reconnaissance task is executed is improved.
Under the general condition, at present, conventional semi-submersible unmanned vehicles are not equipped with a shipboard unmanned aerial vehicle, for example, the chinese utility model (application number CN201920181663.6) discloses a scheme of a semi-submersible unmanned vehicle suitable for high sea conditions, and provides a reconnaissance method based on a waterproof electric telescopic rod carrying observation equipment. Chinese patent (application No. 201510760006.3) discloses an unmanned shipborne unmanned aerial vehicle hybrid system, and this system includes surface of water hull, shipborne power equipment and shipborne application equipment and unmanned aerial vehicle, and this hybrid system can make surface of water unmanned ship compensate the disadvantage of operation in the vertical direction in airspace. Chinese patent (application No. 201910144289.7) discloses an unmanned ship unmanned aerial vehicle cooperative system and a control method, and provides a design scheme of a take-off, landing and charging integrated device, wherein a cradle head is used for isolating the swinging motion of a ship body, a buffer device is used for preventing the collision of the unmanned aerial vehicle in the landing process, and a fixing device is used for matching the take-off and landing of the unmanned aerial vehicle.
The first method only relates to the introduction of a scheme of a traditional semi-submersible unmanned ship, and the waterproof electric telescopic rod of the system has a complex structure and limited extension height, so that the defect that the semi-submersible unmanned ship cannot observe a remote object is difficult to fundamentally overcome;
the second and third methods all relate to a hybrid system of unmanned aerial vehicle on water surface, the scheme is firstly required to be implemented on the unmanned aerial vehicle on water surface with a stable platform, a wireless communication or satellite communication device is adopted between the unmanned aerial vehicle and the unmanned aerial vehicle, communication interruption can occur at any time under severe sea conditions to cause the unmanned aerial vehicle to crash, and the condition of data loss is detected.
Disclosure of Invention
The to-be-solved technical problem of the utility model is to provide an unmanned ship that integrated level is high, safe and reliable carries on unmanned aerial vehicle take-off and land device, take-off and land control system.
In order to solve the technical problem, the unmanned vehicle carrying unmanned vehicle taking-off and landing device comprises a first limiting mechanism and a second limiting mechanism which are arranged at the bottom of an upper cover of a control cabin of a semi-submersible unmanned vehicle and can move relatively, a winch arranged in a lower cover of the control cabin and a winch motor which can drive the winch to move, wherein the unmanned vehicle is arranged above the upper cover of the control cabin, a reconnaissance module of the unmanned vehicle can extend to the lower part of the upper cover of the control cabin and is clamped and fixed by the first limiting mechanism and the second limiting mechanism, a communication rope wound on the winch is connected with the reconnaissance module of the unmanned vehicle and can be released or retracted under the driving of the winch, and the winch motor, the controller of the unmanned aerial vehicle and the control ends of the first limiting mechanism and the second limiting mechanism are connected with the take-off and landing control system and can operate under the control of the take-off and landing control system.
A stop gear and No. two stop gear's control end is including linear electric motor that can control a stop gear and No. two linear electric motor that can control No. two stop gear, No. one stop gear includes the lead screw guide rail that control cabin upper cover bottom set up and the stopper of installing with the lead screw guide rail cooperation No. one, No. two stop gear include the lead screw guide rail of No. two that control cabin upper cover bottom set up and the stopper of installing with the lead screw guide rail cooperation No. two, linear electric motor is connected with a lead screw guide rail, No. two linear electric motor are connected with No. two lead screw guide rails.
The winch is fixedly installed on the control cabin installation tray, and the lifting control system is also fixedly installed on the installation tray.
The utility model provides an above-mentioned unmanned ship carries on unmanned aerial vehicle take-off and land control system of device, includes the control unit, is used for driving linear electric motor's linear electric motor driver, is used for driving linear electric motor's No. two linear electric motor drivers No. two, the direction position control module that is connected with a linear electric motor driver and the direction position control module that is connected with No. two linear electric motor drivers, the control unit passes through the communication line and connects direction position control module and No. two direction position control modules, the control unit still is connected with little be used to lead attitude sensor, GPS big dipper position sensor with, hoist engine motor and unmanned aerial vehicle controller.
The control unit is integrated with a PWM output module, a GPIO digital quantity signal input-output module, an analog signal input-output module, a PROT0 serial port communication module and a PROT1 serial port communication module, the analog signal input-output module is connected with the winch motor through a signal wire, and the GPIO digital quantity signal input-output module is connected with the micro inertial navigation pose sensor and the GPS/Beidou position sensor through signal wires; the PROT0 serial port communication module realizes wired communication with the unmanned aerial vehicle controller through a communication rope.
The PWR power module is connected with a lithium battery, and the lithium battery is connected with the first direction position control module and the second direction position control module.
The control unit is an S7-200 PLC controller.
The utility model has the advantages that:
1. the semi-submersible unmanned ship landing device is ingenious in structural design and convenient to install, operation of the semi-submersible unmanned ship landing unmanned aerial vehicle can be achieved, the unmanned aerial vehicle can be well fixed by the limiting mechanism and the communication rope after the unmanned aerial vehicle lands on the unmanned ship, and reliability is good; in addition, because carry on the communication rope when unmanned aerial vehicle carries out the task, both guaranteed with the reliability of the long-range real-time communication of semi-submerged formula unmanned ship, can again in communication failure (suffer signal interference and lose control), unmanned aerial vehicle retrieves organism and airborne reconnaissance data after losing control, very big improvement unmanned aerial vehicle factor of safety when carrying out the task.
2. On the control system, the take-off and landing control system based on the S7-200 controller adopts a hardware control framework combining a micro inertial navigation attitude sensor, a GPS/Beidou positioning sensor, a linear motor, a winch motor and the S7-200 controller, so that the problem of large potential safety hazard in the take-off and landing process of the traditional manual remote control unmanned aerial vehicle is avoided.
3. The integrated mechanical structure and the control system are organically combined and complement each other, the structure design is ingenious, the installation is convenient, the automation degree is high, the taking-off and landing functions of the semi-submersible unmanned ship-based unmanned aerial vehicle are realized, the taking-off and landing control requirements of the semi-submersible unmanned ship-based unmanned aerial vehicles of different sizes and different types can be met, the integration level is high, and certain universality is achieved.
Drawings
Fig. 1 is a schematic structural view of a use state of the unmanned vehicle take-off and landing device carried by the unmanned boat;
fig. 2 is a schematic view of the installation state of the control cabin and the unmanned aerial vehicle in the utility model;
fig. 3 is an exploded schematic view of the unmanned vehicle take-off and landing device carried by the unmanned boat of the present invention;
fig. 4 is a schematic block diagram of a control system of the unmanned vehicle take-off and landing device carried by the unmanned vehicle of the utility model;
fig. 5 is the utility model discloses well unmanned ship carries on unmanned aerial vehicle take-off and land process flow chart.
Detailed Description
The unmanned ship carrying unmanned aerial vehicle take-off and landing device, take-off and landing control system and control method of the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The first embodiment is as follows:
as shown in fig. 1 and 2, a hull structure of a small unmanned stealth electric boat, which is formed by combining a single cylindrical floating body and a small stealth control cabin 1, is adopted in the aspect of appearance design; the structure not only ensures the self-righting function of the boat, but also improves the shaking property of the small boat body, effectively reduces the radar reflecting surface of the boat body and improves the stealth property of the unmanned boat; in order to increase the reconnaissance range of the unmanned vehicle, the shipboard unmanned aerial vehicle 2 can carry on the unmanned vehicle take-off and landing device and take-off and landing control system of the utility model to realize normal take-off and landing of the semi-submersible unmanned vehicle, the communication rope 3 is internally provided with an optical fiber communication line, the outside is made of high-strength nylon material and is connected with the bottom of the unmanned vehicle, and reconnaissance data of the unmanned vehicle and control instructions issued by the unmanned vehicle can be transmitted through the optical fiber communication line; when breaking down at unmanned aerial vehicle, unmanned aerial vehicle's organism is retrieved to accessible communication rope.
As shown in fig. 3, the unmanned vehicle-mounted unmanned aerial vehicle take-off and landing device of the embodiment includes a first limiting mechanism 6 and a second limiting mechanism 7 which are arranged at the bottom of an upper cover 4 of a top control cabin of a semi-submersible unmanned vehicle and can move relatively, a winch 10 arranged in a lower cover of the control cabin, and a winch motor 13 which can drive the winch to move, as can be seen from the figure, the winch 10 is fixedly arranged on a mounting tray 11 of the control cabin through bolts and is connected with the winch motor through a coupler, an unmanned aerial vehicle is arranged above the upper cover 4 of the control cabin, a reconnaissance module 8 of the unmanned aerial vehicle can extend to the lower part of the upper cover 4 of the control cabin and is clamped and fixed by the first limiting mechanism 6 and the second limiting mechanism 7, a communication rope 3 wound on the winch 10 is connected with a reconnaissance module 8 of the unmanned aerial vehicle and can be released or retracted under the driving of the winch 10, the winch motor 13, the control unit of the unmanned aerial vehicle and the control ends of the first limiting mechanism 6 and the second limiting mechanism 7 are all connected with a take-off and landing control system and can operate under the control of the take-off and landing control system based on an S7-200 PLC controller, the take-off and landing control system based on the S7-200 PLC is also fixedly installed on the installation tray 11, as can be seen from figure 3, the control ends of the first limiting mechanism 6 and the second limiting mechanism 7 comprise a first linear motor 15 capable of controlling the first limiting mechanism 6 and a second linear motor 16 capable of controlling the second limiting mechanism 7, the first limiting mechanism comprises a first lead screw guide rail arranged at the bottom of the control cabin upper cover 4 and a first limiting block installed in a matched manner with the first lead screw guide rail, the second limiting mechanism 7 comprises a second lead screw guide rail arranged at the bottom of the control cabin upper cover 4 and a second limiting block installed in a matched manner with the second lead screw guide rail, linear motor 15 is connected with a lead screw guide rail, and No. two linear motor 16 are connected with No. two lead screw guide rails, and linear motor 15 and No. two linear motor 16 during operation promote a stopper and No. two stopper removal and the horizontal fixation unmanned aerial vehicle reconnaissance module 8 under lead screw guide rail's transmission, and after unmanned aerial vehicle takes off, hoist winch 10 reversal, communication rope 3 release, communication rope withdraws when hoist motor 13 corotation.
Example two:
the take-off and landing control system of the semi-submersible unmanned ship carrying the unmanned aerial vehicle take-off and landing device comprises an S7-200 PLC controller, a linear motor driver for driving a linear motor, an EM253 direction position control module connected with the linear motor driver and an EM253 direction position control module connected with the linear motor driver, the linear motor is connected with the linear motor driver through a signal line, and the linear motor is connected with the linear motor driver through a signal line. The S7-200 PLC controller is integrated with a PWR power supply module, a GPIO digital quantity signal input/output module, an analog signal input/output module, a PROT0 serial port communication module and a PROT1 serial port communication module. The GPIO digital quantity signal input/output module is connected with a cradle head for sensing the surrounding environment of the semi-submersible unmanned ship, a micro inertial navigation pose sensor for acquiring the attitude angle of the semi-submersible unmanned ship and a GPS/Beidou position sensor for positioning through signal wires, the port of the analog quantity input/output module is connected with a driver of a winch motor through a signal wire, and the winch motor is connected with the driver of the winch motor through a signal wire; the PROT0 serial port communication module realizes wired communication with the unmanned aerial vehicle controller through the communication rope 3, thereby real-time reconnaissance data sent by the unmanned aerial vehicle reconnaissance module can be received and a control instruction issued to the unmanned aerial vehicle by the S7-200 PLC controller is fed back, the S7-200 PLC controller is connected with the first EM253 motor driving module and the second EM253 motor driving module through the communication rope, the PWR power module is connected with the 24V lithium battery, the 24V lithium battery is connected with the first direction position control module (the first EM253 motor driving module) and the second direction position control module (the second EM253 motor driving module) through the communication rope, as can be seen from figure 4, the first EM253 motor driving module and the second EM253 motor driving module are integrated with an IGBT rectification inversion module and a PWM pulse output port, wherein the IGBT rectification inversion module is connected with the 24V lithium battery through the IGBT rectification inversion interface, the PWM pulse output port of the first EM253 direction position control module is connected with the first linear electric power output port through the communication rope The pulse input interface of the machine driver is connected, the PWM pulse output interface (port) of the second EM253 direction position control module is connected with the pulse input interface of the second linear motor driver through a communication line, the 24V lithium battery supplies power to the S7-200 controller through the PWR power module, the first EM253 direction position control module, the second EM253 direction position control module, the micro inertial navigation attitude sensor 15 and the GPS/Beidou position sensor, and during installation, the S7-200 PLC controller, the first linear motor driver, the second linear motor driver, the first EM253 direction position control module, the second EM253 direction position control module, the micro inertial navigation attitude sensor and the GPS/Beidou position sensor are sequentially installed on an installation tray of the middle position of the control cabin.
Example three:
the control method based on the semi-submersible unmanned ship carrying unmanned aerial vehicle take-off and landing device control system comprises the following steps:
step A: after the whole control system is powered on, an S7-200 PLC controller is initialized, a first linear motor 15, a second linear motor 16 and a winch motor 13 are initialized, and a first limiting mechanism and a second limiting mechanism return to zero;
and B: the control system receives a takeoff reconnaissance command of the unmanned aerial vehicle and transmits target data of the unmanned aerial vehicle control command to the unmanned aerial vehicle controller through the communication rope;
and C: the unmanned aerial vehicle controller receives a control instruction to prepare for taking off, the S7-200 PLC controller sends action signals to PWM output modules of the first EM253 motor driving module and the second EM253 motor driving module through signal lines respectively, the first linear motor and the second linear motor execute actions, the first limiting mechanism and the second limiting mechanism release the unmanned aerial vehicle, and the unmanned aerial vehicle takes off immediately to start a reconnaissance task;
step D: when the unmanned aerial vehicle reconnaissance is finished, the S7-200 PLC controller sends a return flight instruction to the unmanned aerial vehicle through a communication rope, and simultaneously sends the current position information and attitude angle information of the unmanned ship to the unmanned aerial vehicle controller, when the return flight is normal, the unmanned aerial vehicle controller takes the position information and attitude angle information of the semi-submersible unmanned ship as flight targets in real time, corrects target positions and attitude angle errors in real time, and guides the unmanned aerial vehicle to land on a control cabin cover; after the unmanned aerial vehicle reconnaissance module is pressed into the lower portion of the upper cover of the control cabin, the S7-200 PLC controller sends action signals to PWM output ports of the first EM253 motor driving module and the second EM253 motor driving module through signal lines respectively, the first linear motor and the second linear motor execute actions, the first limiting mechanism and the second limiting mechanism fix the unmanned aerial vehicle, finally, the S7-200 PLC controller sends action instructions to the winch motor through an analog input/output port, the motor rotates forwards, the communication rope is tightened, and the unmanned aerial vehicle is fixed in the vertical direction.
Step E: when communication interruption occurs in return voyage and the unmanned aerial vehicle loses control, the S7-200 PLC immediately sends an action instruction to the winch motor through the analog input/output port, the motor rotates forwards, the communication rope is tightened, the unmanned aerial vehicle is directly recovered and evacuated to the shore base, and finally the control requirement that the semi-submersible unmanned aerial vehicle carries the unmanned aerial vehicle for taking off and landing is met.
Claims (7)
1. The utility model provides a semi-submerged formula unmanned vehicles carries on unmanned aerial vehicle take-off and land device which characterized in that: including settling No. one stop gear (6) and No. two stop gear (7) that can relative movement in control cabin upper cover (4) bottom of semi-submerged formula unmanned vehicles and settling in control cabin lower cover hoist engine capstan winch (10) and can drive hoist engine motor (13) of hoist engine capstan winch action, control cabin upper cover (4) top is settled unmanned aerial vehicle, unmanned aerial vehicle's reconnaissance module (8) can stretch to control cabin upper cover (4) below and press from both sides tightly fixedly by No. one stop gear (6) and No. two stop gear (7), the communication rope (3) of winding on hoist engine capstan winch (10) is connected with unmanned aerial vehicle's reconnaissance module (8) and can release or withdraw under the drive of hoist engine capstan winch (10), the control end of hoist engine motor (13), unmanned aerial vehicle's controller and No. one stop gear (6) and No. two stop gear (7) all is connected with the control system that takes off and land and can take off and land under the control system's control And (5) operating.
2. The semi-submersible unmanned vehicle-mounted unmanned aerial vehicle take-off and landing device according to claim 1, characterized in that: the control end of a stop gear (6) and No. two stop gear (7) is including linear electric motor (15) that can control a stop gear (6) and No. two linear electric motor (16) that can control No. two stop gear (7), No. one stop gear including control cabin upper cover (4) bottom set up a lead screw guide rail and with a stopper of lead screw guide rail cooperation installation, No. two stop gear (7) including control cabin upper cover (4) bottom set up No. two lead screw guide rails and with No. two stopper of lead screw guide rail cooperation installation, linear electric motor (15) are connected with a lead screw guide rail, No. two linear electric motor (16) are connected with No. two lead screw guide rails.
3. The semi-submersible unmanned vehicle-mounted unmanned aerial vehicle take-off and landing device according to claim 1 or 2, characterized in that: the winch (10) is fixedly installed on the control cabin installation tray (11), and the lifting control system is also fixedly installed on the installation tray (11).
4. A take-off and landing control system of a semi-submersible unmanned boat-carrying unmanned aerial vehicle take-off and landing apparatus according to claim 3, wherein: including the control unit, be used for driving linear electric motor's linear electric motor driver, be used for driving linear electric motor's No. two linear electric motor drivers No. two, the direction position control module of being connected with a linear electric motor driver and No. two direction position control modules of being connected with No. two linear electric motor drivers, the control unit passes through communication line and connects direction position control module and No. two direction position control modules, the control unit still is connected with little inertial navigation attitude sensor, GPS big dipper position sensor with, hoist engine motor and unmanned aerial vehicle controller.
5. The take-off and landing control system of a semi-submersible unmanned vehicle-mounted unmanned aerial vehicle take-off and landing device according to claim 4, wherein: the control unit is integrated with a PWM output module, a GPIO digital quantity signal input-output module, an analog signal input-output module, a PROT0 serial port communication module and a PROT1 serial port communication module, the analog signal input-output module is connected with the winch motor through a signal wire, and the GPIO digital quantity signal input-output module is connected with the micro inertial navigation pose sensor and the GPS/Beidou position sensor through signal wires; the PROT0 serial port communication module realizes wired communication with the unmanned aerial vehicle controller through a communication rope (3).
6. The take-off and landing control system of a semi-submersible unmanned vehicle-mounted unmanned aerial vehicle take-off and landing device according to claim 5, wherein: the control unit is integrated with a PWR power supply module, the PWR power supply module is connected with a lithium battery, and the lithium battery is connected with the first direction position control module and the second direction position control module.
7. The take-off and landing control system of a semi-submersible unmanned vehicle-mounted unmanned aerial vehicle take-off and landing device according to claim 6, wherein: the control unit is an S7-200 PLC controller.
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| CN202022339056.3U CN214138881U (en) | 2020-10-20 | 2020-10-20 | Unmanned ship carries on unmanned aerial vehicle take-off and landing device, take-off and landing control system |
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| CN202022339056.3U CN214138881U (en) | 2020-10-20 | 2020-10-20 | Unmanned ship carries on unmanned aerial vehicle take-off and landing device, take-off and landing control system |
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