CN214728422U - Vehicle-mounted unmanned aerial vehicle mobile companion aircraft nest - Google Patents

Abstract

The utility model relates to the field of unmanned aerial vehicle application, and discloses a vehicle-mounted unmanned aerial vehicle mobile accompanying airplane nest, which comprises a nest body, two cabin doors, a cabin door driving device, a battery replacing device and an accompanying flying box; the top of the machine nest main body is provided with a machine nest opening, the two cabin doors are connected with the cabin door driving device, and the cabin door driving device drives the cabin doors to be installed at the machine nest opening in an openable and closable manner; the cabin door driving device, the battery replacing device and the accompanying flying box are arranged inside the machine nest main body. The utility model discloses in set up the companion and fly box and battery replacement device, utilize simple structure and operation to realize that the high accuracy of unmanned aerial vehicle companion flies is fixed a position and efficient automatic battery is changed.

Description

Vehicle-mounted unmanned aerial vehicle mobile companion aircraft nest

Technical Field

The utility model relates to an unmanned aerial vehicle application, more specifically relates to an on-vehicle unmanned aerial vehicle removes companion's aircraft nest.

Background

Unmanned aerial vehicle is the unmanned aircraft that utilizes radio remote control equipment and self-contained program control device to control, at present widely used in fields such as land or ocean aerial reconnaissance, supervision, communication, anti-dive and electronic interference, moreover, along with people's familiar with and liking to unmanned aerial vehicle, also promoted civil unmanned aerial vehicle's development, make unmanned aerial vehicle get into in the middle of ordinary people's life gradually, nowadays, civil unmanned aerial vehicle's intelligent degree has had promotion by a relatively large margin, obtained more unmanned aerial vehicle fan's pursuing of holding, wherein unmanned aerial vehicle's companion flight function is just one of the intelligent function that vast unmanned aerial vehicle fan loved. The unmanned aerial vehicle has the following flight function, and the unmanned aerial vehicle moves along with moving objects such as vehicles, ships and the like, so that the monitoring, navigation, shooting and other works can be completed more flexibly. And realize the prerequisite of the good effect companion flight function is the location of realization high accuracy, among the prior art, realize that the unmanned aerial vehicle location mainly relies on GPS location or through technologies such as figure matching, but above-mentioned method can be very loaded down with trivial details on the design of unmanned aerial vehicle companion flight technique and use, and there is the defect of reliability inefficiency and inefficiency, it carries out the companion flight operation to need operating personnel to have abundant experience and just can nimble control unmanned aerial vehicle, and simultaneously, to on-vehicle companion flight unmanned aerial vehicle, how to utilize limited automobile body space to realize taking off of unmanned aerial vehicle, descend and accomodate also be the technical problem that this field needs to solve. In addition, in the repeated operation process of unmanned aerial vehicle many times, unmanned aerial vehicle's battery duration can not maintain very long time, lasts the manual work and carries out unmanned aerial vehicle battery replacement and will consume a large amount of manpower and materials again, consequently how to realize on-vehicle unmanned aerial vehicle's automatic battery replacement also is the topic that each big firm is paid attention to more and more.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming above-mentioned prior art's at least one defect (not enough), provide an on-vehicle unmanned aerial vehicle removes companion's aircraft nest for realize on-vehicle unmanned aerial vehicle companion fly, accomodate and the effect that automatic battery changed.

The utility model adopts the technical scheme that the vehicle-mounted unmanned aerial vehicle mobile accompanying airplane nest comprises a nest body, two cabin doors, a cabin door driving device, a battery replacing device, an accompanying flying box and a control device; the top of the machine nest main body is provided with a machine nest opening, the two cabin doors are connected with the cabin door driving device, and the cabin door driving device drives the cabin doors to be installed at the machine nest opening in an openable and closable manner; the cabin door driving device, the battery replacing device, the accompanying flying box and the control device are arranged inside the machine nest main body, and the cabin door driving device, the battery replacing device and the accompanying flying box are all connected with the control device.

The utility model discloses in, design a machine nest, the machine nest mountable is in various motorcycle types, for example the pick-up car carriage, can regard as on-vehicle unmanned aerial vehicle to take off, descend and the place of accomodating, and wherein internally mounted has the companion to fly box and battery replacement device, and the companion flies the high accurate location that the motion vehicle that the box can be used to realize unmanned aerial vehicle and mounting plate nest to further realize unmanned aerial vehicle's companion and fly the function, and the battery replacement device can be used to realize that unmanned aerial vehicle's automatic battery is changed and provide unmanned aerial vehicle and take off, the platform that descends. Specifically, the aircraft nest still includes aircraft nest body, two hatch doors, hatch door drive arrangement and controlling means, and the aircraft nest mouth is seted up at aircraft nest main part top, controlling means to hatch door drive arrangement sends the instruction, makes hatch door drive arrangement drive the hatch door can open and shut install in the aircraft nest mouth then opens the hatch door when unmanned aerial vehicle need use or carry out the battery change, need not use then can control the hatch door and close to accomplish unmanned aerial vehicle accomodate and protect unmanned aerial vehicle.

Furthermore, the battery replacing device comprises a platform, a plurality of battery bins and a grabbing mechanism; the battery bin is arranged on one side of the platform and connected with the platform, and the grabbing mechanism is arranged between the platform and the battery bin and connected with the platform; the platform towards one side of battery compartment is equipped with an opening, snatch the mechanism including removing the axle and snatching the piece, grab get with remove axle swing joint, it passes through to grab the piece remove the axle the battery compartment extremely remove in the opening and carry out unmanned aerial vehicle's battery change.

The utility model discloses in, the platform of battery changing device is used for parking unmanned aerial vehicle, the battery compartment is used for depositing the new battery that a plurality of electric quantities are sufficient and changes the not enough old battery of electric quantity down from unmanned aerial vehicle, and snatch the automatic battery change operation that the mechanism is used for realizing unmanned aerial vehicle, use and snatch the operation that the mechanism replaced artifical battery of changing among the prior art, comparatively speaking, can use snatching mechanism positioning accuracy of control such as machine program higher, good repeatability, efficiency is higher, the waste of reducible manpower and materials and save time. More specifically, set up the opening towards battery compartment one side at the platform, snatch the piece of snatching of mechanism and move the axle along it and in the battery compartment extremely remove in the opening and carry out unmanned aerial vehicle's battery and change, can make the device structure compacter, realize further integrated setting, reduce the device volume.

Further, the moving shaft comprises a horizontal moving shaft, a horizontal driving device, a vertical moving shaft, a vertical driving device and a rotating mechanism; the horizontal moving shaft is connected below the opening of the platform, the vertical moving shaft is rotatably connected to one side, away from the opening, of the horizontal moving shaft through the rotating mechanism, and the vertical moving shaft is movably connected with the grabbing piece; the horizontal driving device is connected with the vertical moving shaft and drives the vertical moving shaft to horizontally move on the horizontal moving shaft; the vertical driving device is connected with the grabbing piece and drives the grabbing piece to vertically move on the vertical moving shaft; and the horizontal driving device, the vertical driving device and the rotating mechanism are all connected with the control device.

In order to realize the moving of the battery, the utility model is provided with a horizontal moving shaft below the opening part, the moving of the battery is decomposed into a structure of horizontal moving at the opening part, the moving of the battery is integrated on the platform, and the shortest moving distance is realized; in order to realize the shortest moving distance in the vertical direction, the utility model discloses further set up the vertical removal axle at the other end of horizontal removal axle, on this basis, the utility model discloses further set up the slewing mechanism between horizontal removal axle and vertical removal axle, namely the transport structure of battery has decomposed into the rotation of horizontal movement + vertical removal axle, the battery direction that can better adapt to the battery compartment and place the different condition of direction with the battery when unmanned aerial vehicle parks on the platform of the battery that can be better of three kinds of motion axle's structure, slewing mechanism can change the direction of vertical removal axle and the piece of grabbing installed on it, the utility model discloses a simple structure realizes that the piece of grabbing moves in a plurality of directions accurately and rapidly, can realize faster battery transport; simultaneously, in order to realize the compact design of device, the utility model discloses set up the horizontal migration axle in the platform bottom, but not additionally set up the setting that other bearing structure supported the horizontal migration axle near the platform, practice thrift the space, make the volume minimizing of device self.

Furthermore, the battery replacing device also comprises a platform lifting bracket and a lifting driving device; the platform lifting support is movably connected with the platform, and the battery bin is connected with the platform lifting support; the lifting driving device is arranged on the platform lifting support and drives the platform to vertically lift and move on the platform lifting support; the lifting driving device is connected with the control device.

The utility model discloses in, platform lifting support's setting can be used to realize the connection of platform and battery compartment to and platform accessible lift drive is in carry out vertical lift on the platform lifting support and remove, can conveniently meet unmanned aerial vehicle descending, collide with the nest main part and damage when preventing that unmanned aerial vehicle from descending.

In addition, change the operation in order to realize the unmanned aerial vehicle battery accurately, the utility model discloses can also be provided with push pedal and cooperation in a plurality of times in returning on the platform the spout that the push pedal removed in returning, push pedal swing joint in returning platform central point puts, drive such as accessible motor along the spout carries out the removal of a plurality of directions on the platform. In actual conditions, unmanned aerial vehicle stops to land position on the platform and probably has certain deviation, causes to snatch the mechanism and can't correctly carry out the battery change operation from unmanned aerial vehicle, and at this moment, controlling means can control motor drive the push pedal promotes unmanned aerial vehicle's foot rest in returning, adjustment unmanned aerial vehicle descending position for it can carry out the battery change along the opening of platform to snatch the battery that the mechanism can snatch unmanned aerial vehicle.

Simultaneously, in order to make the grabbing piece of grabbing the mechanism can be stable snatch the battery in order to change, battery in the battery compartment can also be at a top fixed connection handle, and grab inside can be provided with corresponding the segmental arc of handle shape, thereby through motor control snatch opening and shutting of a segmental arc and realize snatching the handle at battery top, and this kind of setting has strengthened the stability that snatchs the action to the battery, avoids the battery because of snatching the unstability and dropping in the motion process.

Further, the companion flight box includes: the device comprises a box body, a power supply module, a flight control module, a positioning antenna, a communication module and a communication antenna; the power supply module, the flight control module, the positioning module and the communication module are all arranged inside the box body, and the positioning antenna and the communication antenna are connected to the outside of the box body; the flight control module, the positioning module and the communication module are all connected with the power supply module, the positioning module and the communication module are connected with the flight control module, the positioning antenna is connected with the positioning module, and the communication antenna is connected with the communication module; the positioning module and the communication module are connected with the control device.

The utility model discloses in, the companion flies the beacon when box can regard as unmanned aerial vehicle's companion to fly, can effectively acquire concrete position relation between unmanned aerial vehicle companion flight object and unmanned aerial vehicle, realizes accurate location for unmanned aerial vehicle embodies good companion and flies the effect. The specific working process can be that, in the flight process of the unmanned aerial vehicle, the control device starts the accompanying flying box, the accompanying flying box acquires a plurality of positioning information such as self position, positioning state and orientation state through the positioning module and the positioning antenna, then sends the plurality of positioning information such as self position, positioning state and orientation state to the unmanned aerial vehicle in real time through the communication module and the communication antenna, the unmanned aerial vehicle receives the information of the accompanying flying box, and combines the instruction from the control system to make the position or speed of the unmanned aerial vehicle, and the effect of accompanying flying moving objects is achieved.

Further, the positioning module is an RTK module, the positioning antennas are RTK antennas, and the number of the RTK antennas is two.

The utility model discloses in, the positioning module adopts the RTK module, and is provided with two RTK antennas, and wherein the RTK technique is (Real-time kinematical, Real-time developments) carrier phase difference branch technique, is the difference method of two survey station carrier phase observations of Real-time processing, and the utility model discloses in adopt two RTK antennas to combine the RTK module to provide differential information, can effectively improve the position precision to centimetre level, realize the accurate location that unmanned aerial vehicle companion flies.

Further, the communication module includes data transmission module and 4G module, the communication antenna includes data transmission antenna and 4G antenna, the data transmission antenna with the data transmission module links to each other, the 4G antenna with the 4G module links to each other.

The utility model discloses in, including data transmission module and 4G module in the communication module, wherein, data transmission module can be used for receiving unmanned aerial vehicle's differential data or unmanned aerial vehicle's flight parameter or unmanned aerial vehicle's shooting information etc to and a plurality of locating information such as passback self position, orientation state and orientation state, and the 4G module can be used for communicating with unmanned aerial vehicle control system etc. acquires control signal etc.. Specifically, the utility model discloses a data transmission module can set up to P900 data transmission box and XBPRO data transmission box, the data transmission antenna can set up to two, two the data transmission antenna respectively with P900 data transmission box and XBPRO data transmission box link to each other. The utility model discloses set up different data transmission antennas and link to each other with different data transmission modules respectively, can effectively pass through different data transmission module transmission different information, reduce the operand, improve data transmission speed.

In addition, unmanned aerial vehicle companion flies the box and can also include power conversion box, shift knob and pilot lamp. The utility model discloses in the companion flies the box, set up the power conversion box, can realize the current conversion of battery, prevent that output current is too big to burn out circuit and other parts can effectively improve the security performance. Furthermore, the utility model discloses well companion flies the box and still is provided with shift knob and pilot lamp, and shift knob sets up inside the box body, can protrusion or parallel and level in the box body side cap lets the user can realize the power break-make that the companion flies the box through pressing or replying shift knob, and the pilot lamp then can show whether the circular telegram that the current companion flies the box to the user knows the companion and flies the real-time user state of box.

Simultaneously, for better realization companion flies the box function, unmanned aerial vehicle companion flies the box and can also include the fixed plate, the fixed plate install in box body bottom sets up the fixed plate below each module in the box body, can set up a plurality of heat dissipation holes on the fixed plate, can effectively fly each module working process in the box at the companion, dispel the heat in real time, prevent that the inside high temperature of machine from causing the damage.

Further, the utility model discloses in, it is fixed to use hexagon socket head cap countersunk head screw to carry out the companion and fly each part installation of box body, because hexagon socket head cap countersunk head screw has advantages such as quick detachable, the installation of being convenient for, and can play skid-proof effect well. Meanwhile, the box body of the flight accompanying box and the fixing plate can be made of aluminum alloy materials, and the aluminum alloy materials have the advantages of light weight, good ductility, high strength and the like.

The specific control method for the vehicle-mounted unmanned aerial vehicle mobile accompanying airplane nest can comprise the following steps:

the control device receives a takeoff instruction of the unmanned aerial vehicle, controls the cabin door driving device, opens two cabin doors installed at the nest opening, controls the lifting driving device to drive the platform to ascend, enables the unmanned aerial vehicle to take off from the platform, and controls the lifting driving device to drive the platform to descend to an initial position after the unmanned aerial vehicle takes off;

in the flight process of the unmanned aerial vehicle, the control device controls the positioning device and the communication device of the accompanying flight box to operate, continuously collects the self real-time positioning state information and sends the information to the unmanned aerial vehicle for state adjustment, so that the accompanying flight of the unmanned aerial vehicle is realized;

the control device receives a battery replacing instruction of the unmanned aerial vehicle, controls the lifting driving device to drive the platform to ascend, enables the unmanned aerial vehicle to descend to the platform for battery replacing operation, enables the unmanned aerial vehicle to take off again after the battery replacing operation is finished, and controls the lifting driving device to drive the platform to descend to an initial position;

controlling means receives unmanned aerial vehicle descending instruction, controlling means control lift drive, drive the platform rises, and unmanned aerial vehicle descends to the platform on, and after unmanned aerial vehicle fell, controlling means control lift drive, the drive the platform descends to initial position, and controlling means control hatch door drive arrangement simultaneously, closes install in two hatch doors of quick-witted nest mouth, and close the companion flies positioner and the communication device of box.

Further, the specific steps of battery replacement include:

retrieve unmanned aerial vehicle's old battery, retrieve and include:

the grabbing piece moves to reach the position of the unmanned aerial vehicle through the horizontal moving shaft;

the grabbing piece grabs the old battery out of the battery compartment of the unmanned aerial vehicle through the rotation of the rotating mechanism and the vertical movement of the grabbing piece on the vertical moving shaft;

the grabbing piece is reset to an initial position through the horizontal moving shaft;

the grabbing piece releases the old battery into the vacant battery bin through the rotation of the rotating mechanism and the up-and-down movement of the grabbing piece on the vertical moving shaft;

a replacement of a new battery, the replacement comprising:

the grabbing piece realizes the hanging and fetching of the new battery in the battery bin through the rotation of the rotating mechanism and the vertical movement of the rotating mechanism on the vertical moving shaft,

the grabbing piece moves to the unmanned aerial vehicle position through the horizontal moving shaft,

the grabbing piece rotates through the rotating mechanism and vertically moves on the vertical moving shaft to place a new battery in a battery compartment of the unmanned aerial vehicle;

after the battery is replaced, the grabbing piece resets.

Further, still include before retrieving unmanned aerial vehicle's old battery:

unmanned aerial vehicle's rotor dodges, dodge including: the control device sends an avoiding instruction to the unmanned aerial vehicle, the rotor motor of the unmanned aerial vehicle at least controls the placing postures of the two rotors close to the battery compartment, so that an avoiding opening is formed, the avoiding opening corresponds to the opening, and the width of the avoiding opening is larger than that of the opening.

The utility model discloses the dodging operation of unmanned aerial vehicle rotor has been included in the method the utility model discloses in, because the motion of horizontal migration axle is embedded into on the platform, consequently then need unmanned aerial vehicle to fall on the platform and decide the back and do not hinder the battery and change the removal road, especially the setting of dodging of rotor, and the utility model discloses in let unmanned aerial vehicle rotor motor control at least be close to the posture of putting of two rotors of battery compartment forms the evacuation mouth, just the width of evacuation mouth is greater than the open-ended width for it still can carry out the battery through the opening on the platform removal to unmanned aerial vehicle and change to snatch the mechanism.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model is provided with the accompanying box, adopts the double RTK antenna to provide differential positioning information by combining the RTK module, can effectively improve the position accuracy to centimeter level, and realizes the high-precision positioning of the unmanned aerial vehicle accompanying;

2. the utility model discloses in set up the battery and change the device, through grabbing piece in the epaxial multi-direction removal of removal, realize unmanned aerial vehicle's high efficiency automatic battery change and provide unmanned aerial vehicle take off, descending platform.

Drawings

Fig. 1 is a mounting structure diagram of the present invention.

Fig. 2 is a three-dimensional structure diagram of the battery replacing device of the present invention.

Fig. 3 is another perspective structure view of the battery replacing device of the present invention.

Fig. 4 is an exploded view of the battery replacing device according to the present invention.

Fig. 5 is a three-dimensional structure diagram of the accompanying box of the present invention.

Fig. 6 is another perspective structure view of the flight accompanying box of the present invention.

Fig. 7 is an exploded view of the structure of the flight box of the present invention.

Description of reference numerals: the machine nest body 1, the hatch door 2, the platform 3, the battery compartment 4, snatch mechanism 5, snatch a 6, horizontal migration axle 7, horizontal drive device 8, vertical migration axle 9, vertical drive device 10, slewing mechanism 11, horizontal drive base 12, guide rail fixing base 13, platform lifting support 14, lift drive device 15, centering push pedal 16, spout 17, handle 18, segmental arc 19, box body 20, power module 21, flight control module 22, RTK module 23, RTK antenna 24, 4G module 25, digital transmission antenna 26, 4G antenna 27, P900 digital transmission box 28, XBPRO digital transmission box 29, power conversion box 30, shift knob 31, pilot lamp 32, fixed plate 33, motor 34 that opens and shuts.

Detailed Description

The drawings of the present invention are for illustration purposes only and are not to be construed as limiting the invention. For a better understanding of the following embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

As shown in fig. 1 to 7, the embodiment provides a vehicle-mounted unmanned aerial vehicle mobile accompanying airplane nest, which includes a nest body 1, two cabin doors 2, a cabin door driving device, a battery replacing device, an accompanying flying box and a control device; the top of the machine nest main body 1 is provided with a machine nest opening, the two cabin doors 2 are connected with the cabin door driving device, and the cabin door driving device drives the cabin doors 2 to be installed at the machine nest opening in an openable and closable manner; the cabin door driving device, the battery replacing device, the accompanying flying box and the control device are arranged inside the machine nest main body 1, and the cabin door driving device, the battery replacing device and the accompanying flying box are all connected with the control device.

The utility model provides a machine nest mountable is in various motorcycle types, for example this embodiment is shown in figure 1 and is installed in the pick-up car carriage, can regard as on-vehicle unmanned aerial vehicle to take off, descend and the place of accomodating, wherein internally mounted has the companion to fly box and battery replacement device, the companion flies the high accuracy location that the motion vehicle that the box can be used to realize unmanned aerial vehicle and mounting plate nest, thereby further realize unmanned aerial vehicle's companion and fly the function, and the battery replacement device can be used to realize that unmanned aerial vehicle's automatic battery is changed and provide unmanned aerial vehicle take off, the platform that descends. Specifically, the aircraft nest still includes aircraft nest body 1, two cabin doors 2, hatch door drive arrangement and controlling means, and the aircraft nest mouth is seted up at aircraft nest main part top, controlling means to hatch door drive arrangement gives an instruction, makes hatch door drive arrangement drive 2 installation that can open and shut of hatch door in the aircraft nest mouth then opens hatch door 2 when unmanned aerial vehicle need use or carry out the battery change, need not use then can control hatch door 2 and close to accomplish unmanned aerial vehicle accomodate and protect unmanned aerial vehicle.

Further, the battery replacing device comprises a platform 3, a plurality of battery bins 4 and a grabbing mechanism 5; the battery bin 4 is arranged on one side of the platform 3 and connected with the platform 3, and the grabbing mechanism 5 is arranged between the platform 3 and the battery bin 4 and connected with the platform 3; platform 3 towards one side of battery compartment 4 is equipped with an opening, snatch mechanism 5 including removing the axle and snatch a 6, grab a 6 with remove axle swing joint, it passes through to grab a 6 the removal axle is in battery compartment 4 extremely remove in the opening and carry out unmanned aerial vehicle's battery and change.

In this embodiment, the platform 3 of battery replacement device is used for parking unmanned aerial vehicle, battery compartment 4 is used for depositing the new battery that a plurality of electric quantities are sufficient and changes the not enough old battery of electric quantity down from unmanned aerial vehicle, and snatch 5 automatic battery replacement operations that are used for realizing unmanned aerial vehicle, use and snatch 5 operation of replacing artifical change battery among the prior art of mechanism 5, comparatively speaking, can use the mechanism 5 positioning accuracy of snatching of control such as machine program higher, good reproducibility, high efficiency, the waste of reducible manpower and materials and save time. More specifically, set up the opening towards battery compartment 4 one side at platform 3, snatch 5 snatch 6 along its removal axle in the battery compartment extremely remove in the opening and carry out unmanned aerial vehicle's battery and change, can make the device structure compacter, realize further the setting that integrates, reduce the device volume.

Further, the moving shafts comprise a horizontal moving shaft 7, a horizontal driving device 8, a vertical moving shaft 9, a vertical driving device 10 and a rotating mechanism 11; the horizontal moving shaft 7 is connected below the opening of the platform 3, the vertical moving shaft 9 is rotatably connected to one side, away from the opening, of the horizontal moving shaft 7 through the rotating mechanism 11, and the vertical moving shaft 9 is movably connected with the grabbing part 6; the horizontal driving device 8 is connected with the vertical moving shaft 9, and drives the vertical moving shaft 9 to move horizontally on the horizontal moving shaft 7, in this embodiment, the horizontal driving device 8 may be mounted on the horizontal moving shaft 7 through a horizontal driving base 12; the vertical driving device 10 is connected with the grabbing piece 6 and drives the grabbing piece 6 to vertically move on the vertical moving shaft 9, in this embodiment, the vertical moving shaft 9 may be installed and fixed through a guide rail fixing seat 13, and the vertical driving device 10 may also be installed in the guide rail fixing seat 13; the horizontal driving device 8, the vertical driving device 9 and the rotating mechanism 12 are all connected with the control device.

In order to realize the moving of the battery, the utility model is provided with a horizontal moving shaft 7 below the opening part, the moving of the battery is decomposed into a structure of horizontal moving at the opening part, the moving of the battery is integrated on the platform, and the shortest moving distance is realized; for realizing the shortest moving distance in the vertical direction, the utility model discloses further set up vertical removal axle 9 at the other end of horizontal migration axle 7, on this basis, the utility model discloses further set up slewing mechanism 11 between horizontal migration axle 7 and vertical removal axle 9, the transport structure of battery has been decomposed into the rotation of horizontal migration + vertical removal axle promptly, the battery orientation that can better adapt to battery compartment 4 and place the different condition of orientation with the battery when unmanned aerial vehicle parks on the platform of the battery orientation that can be better of three kinds of motion axle's structure, slewing mechanism 11 can change vertical removal axle 9 and the orientation of the grabbing piece 6 of installing on it, the utility model discloses a simple structure realizes that the grabbing piece is accurate quick to move in a plurality of directions, can realize faster battery transport; simultaneously, in order to realize the compact design of device, the utility model discloses set up horizontal migration axle 7 in the platform bottom, but not additionally set up the setting that other bearing structure supported the horizontal migration axle near the platform, practice thrift the space, make the volume minimizing of device self.

Further, the battery replacing device also comprises a platform lifting bracket 14 and a lifting driving device 15; the platform lifting support 14 is movably connected with the platform 3, and the battery bin 4 is connected with the platform lifting support 14; the lifting driving device 15 is installed on the platform lifting support 14 and drives the platform 3 to vertically lift and move on the platform lifting support 14; the lifting driving device 15 is connected with the control device.

The utility model discloses in, platform lifting support 14's setting can be used to realize the connection of platform 3 and battery compartment 4 to and the drive of platform 3 accessible lift drive arrangement 15 is in carry out vertical lift removal on the platform lifting support 14, can conveniently meet unmanned aerial vehicle descending, collide with 1 of nest main part and damage when preventing that unmanned aerial vehicle from descending.

In addition, in order to accurately implement the battery replacement operation of the unmanned aerial vehicle, in this embodiment, a plurality of centering push plates 16 and a sliding groove 17 matched with the centering push plates to move are further disposed on the platform 3, and the centering push plates 16 are movably connected to the central position of the platform 3 and can be driven by a motor or the like to move on the platform 3 along the sliding groove 17 in multiple directions. In actual conditions, unmanned aerial vehicle stops to fall on platform 2 the position and probably has certain deviation, causes to snatch mechanism 5 and can't correctly carry out the battery change operation from unmanned aerial vehicle, and at this moment, controlling means can control motor drive push pedal 16 promotes unmanned aerial vehicle's foot rest in returning, adjustment unmanned aerial vehicle descending position for snatch mechanism 5 and can snatch unmanned aerial vehicle's battery along platform 3's opening and carry out the battery change.

Meanwhile, in order to enable a grabbing piece of the grabbing mechanism to stably grab the battery for replacement, the battery top in the battery compartment is fixedly connected with a handle 18, the grabbing piece 6 can be internally provided with an arc-shaped section 19 corresponding to the shape of the handle 18, and the grabbing of the handle 18 at the top of the battery can be realized by controlling the opening and closing of the arc-shaped section 19 through an opening and closing motor 34, so that the stability of grabbing actions of the grabbing piece on the battery is enhanced, and the battery is prevented from falling off due to unstable grabbing in the moving process.

Further, the companion flight box includes: the device comprises a box body 20, a power supply module 21, a flight control module 22, a positioning module, a positioning antenna, a communication module and a communication antenna; the power module 21, the flight control module 22, the positioning module and the communication module are all installed inside the box body 20, and the positioning antenna and the communication antenna are connected to the outside of the box body 20; the flight control module 22, the positioning module and the communication module are all connected with the power supply module 21, the positioning module and the communication module are connected with the flight control module 22, the positioning antenna is connected with the positioning module, and the communication antenna is connected with the communication module; the positioning module and the communication module are connected with the control device.

The utility model discloses in, the companion flies the beacon when box can regard as unmanned aerial vehicle's companion to fly, can effectively acquire concrete position relation between unmanned aerial vehicle companion flight object and unmanned aerial vehicle, realizes accurate location for unmanned aerial vehicle embodies good companion and flies the effect. The specific working process can be that, in the flight process of the unmanned aerial vehicle, the control device starts the accompanying flying box, the accompanying flying box acquires a plurality of positioning information such as self position, positioning state and orientation state through the positioning module and the positioning antenna, then sends the plurality of positioning information such as self position, positioning state and orientation state to the unmanned aerial vehicle in real time through the communication module and the communication antenna, the unmanned aerial vehicle receives the information of the accompanying flying box, and combines the instruction from the control system to make the position or speed of the unmanned aerial vehicle, and the effect of accompanying flying moving objects is achieved.

Further, the positioning module is an RTK module 23, the positioning antennas are RTK antennas 24, and the number of the RTK antennas 24 is two.

The utility model discloses in, the positioning module adopts RTK module 23, and is provided with two RTK antennas 24, and wherein the RTK technique is (Real-time kinematical, Real-time developments) carrier phase difference branch technique, is the difference method of two survey station carrier phase observations of Real-time processing, and the utility model discloses in adopt two RTK antennas 24 to combine RTK module 23 to provide differential information, can effectively improve the position precision to centimetre level, realize the accurate location that unmanned aerial vehicle companion flies.

Further, the communication module includes data transmission module and 4G module 25, the communication antenna includes data transmission antenna 26 and 4G antenna 27, data transmission antenna 26 with the data transmission module links to each other, 4G antenna 27 with 4G module 25 links to each other.

The utility model discloses in, including data transmission module and 4G module 25 in the communication module, wherein, data transmission module can be used for receiving unmanned aerial vehicle's differential data or unmanned aerial vehicle's flight parameter or unmanned aerial vehicle's shooting information etc to and a plurality of locating information such as passback self position, orientation state and orientation state, and 4G module 25 can be used for communicating with unmanned aerial vehicle control system etc. and acquire control signal etc.. Specifically, the data transmission module in this embodiment is specifically configured to be a P900 data transmission box 28 and an XB PRO data transmission box 29, the number of the data transmission antennas 26 may be two, and the two data transmission antennas 26 are respectively connected to the P900 data transmission box 28 and the XB PRO data transmission box 29. In this embodiment, different data transmission antennas 26 are respectively connected to different data transmission modules, so that different information can be effectively transmitted through different data transmission modules, the amount of computation is reduced, and the data transmission speed is increased.

In addition, in this embodiment, the unmanned aerial vehicle companion flight box further includes a power supply conversion box 30, a switch button 31 and an indicator light 32. In the present embodiment, the power supply switching box 30 is provided to realize current switching of the battery and prevent an output current from being too large, so that the safety performance can be effectively improved by burning out the circuit and other components. In addition, the companion flight box in this embodiment is further provided with a switch button 31 and an indicator light 32, the switch button 31 is arranged inside the box body 20 and can protrude or be flush with the side cover of the box body 20, so that a user can realize the power on/off of the companion flight box by pressing or returning the switch button 31, and the indicator light 32 can display whether the power of the companion flight box is currently on or not, so that the user can know the real-time use state of the companion flight box.

Simultaneously, for better realization companion flies the box function, in this embodiment, unmanned aerial vehicle companion flies the box and still includes fixed plate 33, fixed plate 33 install in box body 20 bottom sets up fixed plate 33 below each module in box body 20, can set up a plurality of heat dissipation holes on the fixed plate 33, can be effectively fly each module working process in the box at the companion, dispel the heat in real time, prevent that the inside high temperature of machine from causing the damage.

Furthermore, in this embodiment, the socket head cap countersunk head screw can be used to mount and fix each part of the box body of the accompanying flight box, because the socket head cap countersunk head screw has the advantages of easy disassembly, convenient installation and the like, and can play a good anti-slip role. Meanwhile, the box body 20 and the fixing plate 33 of the flight accompanying box can be made of aluminum alloy materials, and the aluminum alloy materials have the advantages of light weight, good ductility, high strength and the like.

The specific control method for the vehicle-mounted unmanned aerial vehicle to move the accompanying aircraft nest in the embodiment may include the following steps:

the control device receives a takeoff instruction of the unmanned aerial vehicle, controls the cabin door driving device, opens the two cabin doors 2 installed at the machine nest opening, controls the lifting driving device 15 to drive the platform 3 to ascend, enables the unmanned aerial vehicle to take off from the platform 3, and controls the lifting driving device 1 to drive the platform 3 to descend to an initial position after the unmanned aerial vehicle takes off;

in the flight process of the unmanned aerial vehicle, the control device controls the positioning device and the communication device of the accompanying flight box to operate, continuously collects the self real-time positioning state information and sends the information to the unmanned aerial vehicle for state adjustment, so that the accompanying flight of the unmanned aerial vehicle is realized;

the control device receives a battery replacing instruction of the unmanned aerial vehicle, controls the lifting driving device 15 to drive the platform 3 to ascend, the unmanned aerial vehicle lands on the platform to perform battery replacing operation, the unmanned aerial vehicle takes off again after the battery replacing operation is finished, and controls the lifting driving device 15 to drive the platform 3 to descend to an initial position;

controlling means receives unmanned aerial vehicle descending instruction, controlling means control lift drive 15, drive platform 3 rises, and unmanned aerial vehicle descends to platform 3 on, and after unmanned aerial vehicle fell, controlling means control lift drive 15, the drive platform 3 descends to initial position, and controlling means control hatch door drive arrangement simultaneously, close install in two hatch doors 2 of machine nest mouth, and close the companion flies positioner and the communication device of box.

Further, the specific steps of battery replacement include:

retrieve unmanned aerial vehicle's old battery, retrieve and include:

the grabbing piece 6 moves to reach the position of the unmanned aerial vehicle through the horizontal moving shaft 7;

the grabbing piece 6 is rotated through the rotating mechanism 11 and vertically moves on the vertical moving shaft 9, so that the old battery is grabbed from the battery compartment of the unmanned aerial vehicle;

the grabbing piece 6 is reset to the initial position through the horizontal moving shaft 7;

the grabbing piece 6 releases the old battery into the vacant battery bin 4 through the rotation of the rotating mechanism 11 and the up-and-down movement of the rotating mechanism on the vertical moving shaft 9;

a replacement of a new battery, the replacement comprising:

the grabbing piece 6 realizes the hanging and taking of the new battery in the battery compartment through the rotation of the rotating mechanism 11 and the vertical movement of the rotating mechanism on the vertical moving shaft 9,

the gripper 6 is moved by means of a horizontal displacement shaft 7 to the drone position,

the grabbing piece 6 rotates through the rotating mechanism 11 and vertically moves on the vertical moving shaft 9 to place a new battery in a battery compartment of the unmanned aerial vehicle;

after the battery replacement is completed, the grasping member 6 is reset.

Further, still include before retrieving unmanned aerial vehicle's old battery:

unmanned aerial vehicle's rotor dodges, dodge including: the control device sends an avoiding instruction to the unmanned aerial vehicle, the rotor motor of the unmanned aerial vehicle at least controls the placing postures of the two rotors close to the battery bin 4, so that an air avoiding opening is formed, the air avoiding opening corresponds to the opening, and the width of the air avoiding opening is larger than that of the opening.

The method comprises the avoiding operation of the rotor of the unmanned aerial vehicle, in the embodiment, because the motion of the horizontal moving shaft 7 is embedded into the platform 3, the unmanned aerial vehicle is required to be positioned on the platform 3 without obstructing a battery replacement moving road, especially the avoiding setting of the rotor, in the embodiment, the rotor motor of the unmanned aerial vehicle at least controls the placing postures of the two rotors close to the battery compartment to form an avoiding opening, and the width of the avoiding opening is larger than that of the opening, so that the grabbing mechanism can still move to the unmanned aerial vehicle through the opening on the platform for battery replacement.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, and are not limitations to the specific embodiments of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (10)

1. A vehicle-mounted unmanned aerial vehicle mobile accompanying airplane nest is characterized by comprising a nest body, two cabin doors, a cabin door driving device, a battery replacing device and an accompanying flying box; the top of the machine nest main body is provided with a machine nest opening, the two cabin doors are connected with the cabin door driving device, and the cabin door driving device drives the cabin doors to be installed at the machine nest opening in an openable and closable manner; the cabin door driving device, the battery replacing device and the accompanying flying box are arranged inside the machine nest main body.

2. The vehicle-mounted unmanned aerial vehicle moving accompanying aircraft nest according to claim 1, wherein the battery replacing device comprises a platform, a plurality of battery bins and a grabbing mechanism; the battery bin is arranged on one side of the platform and connected with the platform, and the grabbing mechanism is arranged between the platform and the battery bin and connected with the platform; the platform towards one side of battery compartment is equipped with an opening, snatch the mechanism including removing the axle and snatching the piece, grab get with remove axle swing joint, it passes through to grab the piece remove the axle the battery compartment extremely remove in the opening and carry out unmanned aerial vehicle's battery change.

3. The vehicle-mounted unmanned aerial vehicle moving accompanying aircraft nest according to claim 2, wherein the moving shafts comprise a horizontal moving shaft, a horizontal driving device, a vertical moving shaft, a vertical driving device and a rotating mechanism; the horizontal moving shaft is connected below the opening of the platform, the vertical moving shaft is rotatably connected to one side, away from the opening, of the horizontal moving shaft through the rotating mechanism, and the vertical moving shaft is movably connected with the grabbing piece; the horizontal driving device is connected with the vertical moving shaft and drives the vertical moving shaft to horizontally move on the horizontal moving shaft; the vertical driving device is connected with the grabbing piece and drives the grabbing piece to vertically move on the vertical moving shaft.

4. The vehicle-mounted unmanned aerial vehicle moving companion aircraft nest of claim 2, wherein the battery replacement device further comprises a platform lifting bracket and a lifting drive device; the platform lifting support is movably connected with the platform, and the battery bin is connected with the platform lifting support; the lifting driving device is arranged on the platform lifting support and drives the platform to vertically lift and move on the platform lifting support.

5. The vehicle-mounted unmanned aerial vehicle mobile companion aircraft nest of claim 1, wherein the companion flight box comprises: the device comprises a box body, a power supply module, a flight control module, a positioning antenna, a communication module and a communication antenna; the power supply module, the flight control module, the positioning module and the communication module are all arranged inside the box body, and the positioning antenna and the communication antenna are connected to the outside of the box body; the flight control module, the positioning module and the communication module are all connected with the power supply module, the positioning module and the communication module are connected with the flight control module, the positioning antenna is connected with the positioning module, and the communication antenna is connected with the communication module.

6. The vehicle-mounted unmanned aerial vehicle moving companion aircraft nest of claim 5, wherein the positioning module is an RTK module, the positioning antennas are RTK antennas, and the number of the RTK antennas is two.

7. The vehicle-mounted unmanned aerial vehicle mobile accompanying airplane nest of claim 5, wherein the communication module comprises a data transmission module and a 4G module, the communication antenna comprises a data transmission antenna and a 4G antenna, the data transmission antenna is connected with the data transmission module, and the 4G antenna is connected with the 4G module.

8. The vehicle-mounted unmanned aerial vehicle moving accompanying aircraft nest according to any one of claims 5 to 7, wherein the accompanying aircraft box further comprises a power supply conversion box, and the flight control module, the positioning module and the communication module are connected with the power supply module through the power supply conversion box.

9. The vehicle-mounted unmanned aerial vehicle mobile companion aircraft nest of claim 8, wherein the companion aircraft box further comprises a switch button and an indicator light, the switch button and the indicator light are arranged inside the box body, and the switch button and the indicator light are connected with the power module through the power conversion box.

10. The vehicle-mounted unmanned aerial vehicle moving accompanying aircraft nest according to any one of claims 5 to 7, wherein the accompanying aircraft box further comprises a fixing plate, and the fixing plate is mounted in the box body and located below the power supply module, the flight control module, the positioning module and the communication module.

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