CN215155758U - Unmanned aerial vehicle independently receive and releases basic station - Google Patents
Unmanned aerial vehicle independently receive and releases basic station Download PDFInfo
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- CN215155758U CN215155758U CN202121491897.4U CN202121491897U CN215155758U CN 215155758 U CN215155758 U CN 215155758U CN 202121491897 U CN202121491897 U CN 202121491897U CN 215155758 U CN215155758 U CN 215155758U
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Abstract
The utility model provides an unmanned aerial vehicle independently receive and releases basic station, including at least a set of unmanned aerial vehicle take off and land platform, should receive and release the basic station and still include carriage, unmanned aerial vehicle, elevating system, controller, elevating system sets up in the carriage, and an unmanned aerial vehicle is corresponding with a set of unmanned aerial vehicle take off and land platform, and the unmanned aerial vehicle take off and land platform is used for the unmanned aerial vehicle to take off and the support that bears when descending, and elevating system is used for realizing the lift and the location of unmanned aerial vehicle take off and land platform in the carriage. This basic station collects unmanned aerial vehicle and independently launches, catches functions such as supplementary recovery in an organic whole, does benefit to real realization unmanned aerial vehicle's whole independently operation.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle independently receive and releases basic station.
Background
Unmanned aerial vehicle is more and more extensive in the application of each trade, and the potentiality is huge, but in practical application, has that intelligent level is low, personnel and commute are with high costs, outdoor working environment is hard, unmanned aerial vehicle takes off and land limited scheduling factor, causes unmanned aerial vehicle can't break away from artifical scene and controls, real realization automation mechanized operations for unmanned aerial vehicle only becomes the appurtenance that the industry field patrolled and patrolled, and its potentiality does not really obtain the performance.
The utility model discloses an innovative vertical take-off and landing fixed wing unmanned aerial vehicle (application number: 2021207430684) and an automatic take-off and landing capture device (application number: 2021209024488) that applicant applied for in earlier stage laid the hardware foundation for the proposition of this application.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an unmanned aerial vehicle independently receive and releases basic station, this basic station collect unmanned aerial vehicle independently launch, catch functions in an organic whole such as supplementary recovery, do benefit to real realization unmanned aerial vehicle's whole autonomous operation.
The utility model provides a technical scheme that its technical problem adopted is: the utility model provides an unmanned aerial vehicle is base station that receive and releases independently, includes at least a set of unmanned aerial vehicle platform that takes off and land, should receive and release the base station and still include carriage, unmanned aerial vehicle, elevating system, controller, elevating system sets up in the carriage, and an unmanned aerial vehicle and a set of unmanned aerial vehicle platform that takes off and land is corresponding, the unmanned aerial vehicle platform that takes off and land is used for the unmanned aerial vehicle to take off and the support of bearing when descending, elevating system is used for realizing the lift and the location of unmanned aerial vehicle platform that takes off and land in the carriage.
Preferably, elevating system includes at least a set of lift platform, and each group lift platform all includes lifter plate and lift actuating mechanism, lifter plate and lift actuating mechanism set up in the carriage, just lift actuating mechanism is used for realizing the lift and the location of lifter plate.
Further, unmanned aerial vehicle platform that takes off and land includes board, first supporting platform and the supplementary fixed establishment of unmanned aerial vehicle take off and land be provided with the first optical identification pattern that is used for unmanned aerial vehicle discernment location on the board, first supporting bench sets up on the lifter, the board that takes off and land sets up on the first supporting bench, the supplementary fixed establishment of unmanned aerial vehicle includes four fixture, each fixture all includes supporting rod and supporting rod actuating mechanism, four two bisymmetry distributions of supporting rod are in on the board that takes off and land, through the action of supporting rod actuating mechanism drive supporting rod, can realize that the centre gripping of four supporting rods is close to the action or to the outer fringe dispersion action of board that takes off and land.
Further, the board that takes off and land is circular set up a rotary supporting seat on the lifter plate set up a backup pad on the rotary supporting seat, first supporting station sets up in the backup pad, the rotation of first supporting station is realized in the rotation that a rotary driving mechanism accessible drove the backup pad, controller control rotary driving mechanism's operation set up an supplementary board that takes off and land between the periphery of the board that takes off and land and the lateral wall in carriage, supplementary board that takes off and land is fixed to be set up on the lifter plate, is provided with rotation clearance between supplementary board that takes off and land and the board that takes off and land.
Furthermore, two top covers are arranged on the upper portion of the carriage, after the lifting plate is positioned at the highest position, the upper planes of the auxiliary lifting plate and the top covers are located in the same horizontal plane, a second optical identification pattern is arranged on each top cover, the two top covers move in opposite directions or in the opposite directions through a top cover driving mechanism, and the controller is used for controlling the top cover driving mechanism to operate.
Further, the board that takes off and land includes flat board and lower flat board, go up flat board and link together from top to bottom with dull and stereotyped down, leave supporting rod clearance between last flat board and lower flat board, first optical identification pattern sets up on going up the flat board, the supporting rod is an L shape pole, L shape pole sets up on the flat board down, and the horizontal pole of L shape pole can free rotation in the supporting rod clearance go up being provided with on the flat board, with the pitch arc motion orbit matched with arc wall of the montant of L shape pole, supporting rod actuating mechanism is further motor, step motor sets up dull and stereotyped lower part down, and step motor's output shaft with the horizontal pole one end of L shape pole is connected.
Further, lift actuating mechanism includes drive screw, lift driving motor and hold-in range, and four drive screw vertical settings respectively are in the carriage, the corresponding cover in four apex angles of lifter plate is put on drive screw, realizes reciprocating of lifter plate through drive screw's rotation, lift driving motor is used for driving one of them drive screw and rotates, the hold-in range is used for realizing that four drive screw carry out synchronous rotation, controller control lift driving motor's operation.
Further, receive and release the basic station and include a set of unmanned aerial vehicle platform of taking off and land in the carriage, be provided with two sets of screw playback mechanisms of difference symmetric distribution at the inside upside in carriage, each group screw playback mechanism all includes semi-circular slurcam and playback driving motor, playback driving motor sets up on the carriage lateral wall, playback driving motor can drive semi-circular slurcam and rotate, controller control playback driving motor's operation.
Furthermore, the carriage can be arranged in a designated area in a fixed design mode or in a movable design mode and can move flexibly according to requirements; when the carriage adopts a movable design mode, the carriage is set into a command vehicle, a manual control console is further arranged in the command vehicle, and the manual controller can communicate with the controller.
The utility model has the advantages that: when the unmanned aerial vehicle does not carry out the flight mission, the unmanned aerial vehicle can be placed in the carriage for a long time, so that the storage of the unmanned aerial vehicle is realized, when the carriage adopts a movable design, workers can conveniently convey the unmanned aerial vehicle to a designated area for carrying out the flight mission, and the operation range of the base station is improved; the lifting mechanism is utilized to conveniently lift the unmanned aerial vehicle from the carriage, so that guarantee is provided for realizing automatic take-off of the subsequent unmanned aerial vehicle; by utilizing the unmanned aerial vehicle take-off and landing platform, the precise landing and capturing of the unmanned aerial vehicle can be realized, and the guarantee is provided for the base station to realize the automatic recovery of the unmanned aerial vehicle; the unmanned aerial vehicle can realize accurate positioning landing by utilizing the first optical identification pattern arranged on the take-off and landing plate and the second optical identification pattern arranged on the top cover, and meanwhile, when the unmanned aerial vehicle lands, the plane formed by the take-off and landing plate, the auxiliary take-off and landing plate and the top cover provides a platform area for landing the unmanned aerial vehicle to the greatest extent, so that the safety of the unmanned aerial vehicle during landing can be improved; when designing the carriage into the command car, it can place many unmanned aerial vehicles in the command car, during the application, can carry out intermittent type flight control to a plurality of unmanned aerial vehicles, can improve the continuous outdoor operations ability of command car then, satisfies the execution of the long-time continuous flight task in field.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some of the preferred embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic overall structure diagram of a first embodiment of the present invention;
FIG. 2 is a front view of the overall structure of the first embodiment of the present invention;
fig. 3 is a schematic view of a combination of a lifting driving mechanism, an unmanned aerial vehicle lifting platform and an auxiliary lifting plate according to a first embodiment of the present invention;
fig. 4 is a schematic structural diagram of a second specific embodiment of the take-off and landing platform of the unmanned aerial vehicle;
FIG. 5 is a front view of the distribution of the take-off and landing platform of the unmanned aerial vehicle on the lifting plate;
fig. 6 is a schematic diagram showing the relative distribution of the screw homing mechanism and the lifting plate in the carriage according to the first embodiment of the present invention;
fig. 7 is a schematic diagram of the corresponding action states of the unmanned aerial vehicle, the unmanned aerial vehicle landing platform and the top cover when the unmanned aerial vehicle lands at the end of the landing;
FIG. 8 is a schematic view of a first embodiment of a first optical identification pattern disposed on the upper plate;
in the figure: 1 carriage, 11 top cap, 2 unmanned aerial vehicle take off and land platform, 21 take off and land board, 211 go up dull and stereotyped, 2111 two-dimensional code pattern, 2112 arc wall, 212 lower flat board, 22 first supporting station, 23 centre gripping pole, 231 horizontal pole, 24 centre gripping pole actuating mechanism, 3 unmanned aerial vehicle, 41 lifter plate, 411 rotation support seat, 412 backup pad, 413 supplementary take off and land board, 421 transmission lead screw, 422 lift driving motor, the hold-in range, 51 playback driving motor, 52 semicircular catch plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the following specific embodiments and accompanying drawings 1 to 8, and it is obvious that the described embodiments are only a part of the preferred embodiments of the present invention, and not all embodiments. Those skilled in the art can make similar variations without departing from the spirit of the invention, and therefore the invention is not limited by the specific embodiments disclosed below.
The utility model provides an unmanned aerial vehicle autonomous take-up and pay-off base station, which comprises at least one group of unmanned aerial vehicle take-off and landing platform 2, and also comprises a carriage 1, an unmanned aerial vehicle 3, a lifting mechanism and a controller, wherein the contents shown in the attached drawing 1 are the structural schematic diagram of the specific embodiment that the base station only comprises one group of unmanned aerial vehicle take-off and landing platform 2, the lifting mechanism is arranged in the carriage 1, one unmanned aerial vehicle 3 corresponds to one group of unmanned aerial vehicle take-off and landing platform 2, when the base station comprises a plurality of unmanned aerial vehicles 3, the unmanned aerial vehicle take-off and landing platform 2 which corresponds to the unmanned aerial vehicles 3 one by one can be arranged in the base station, the unmanned aerial vehicle take-off and landing platform 2 is used for bearing and supporting when the unmanned aerial vehicle takes off and lands, the lifting mechanism is used for realizing the lifting and positioning of the unmanned aerial vehicle take-off and landing platform 2 in the carriage 1, and in the practical application, the lifting mechanism comprises at least one group of lifting platform, when unmanned aerial vehicle take-off and landing platform 2 is a set of, lift platform is a set of, when unmanned aerial vehicle take-off and landing platform 2 is the multiunit, can adopt a set of lift platform to realize the lift of many unmanned aerial vehicle take-off and landing platform 2 or adopt the multiunit lift platform with the equal one-to-one of multiunit unmanned aerial vehicle take-off and landing platform 2, realize the lift of each group of unmanned aerial vehicle take-off and landing platform 2 alone, unmanned aerial vehicle 3 can be vertical VTOL fixed wing unmanned aerial vehicle or multi-rotor unmanned aerial vehicle, utilize the advantage that vertical VTOL fixed wing unmanned aerial vehicle flight distance is far away to carry out the execution of long distance flight task, utilize the nimble flexible motor-driven advantage of multi-rotor unmanned aerial vehicle, can carry out the execution of diversified regional task of deciding, in practical application, can be according to the characteristics of flight task, the type of selecting unmanned aerial vehicle 3, then can enlarge the range of application of basic station.
In this embodiment, each group lift platform all includes elevating system includes lifter plate 41 and lift actuating mechanism, lifter plate 41 and lift actuating mechanism set up in the carriage 1, just lift actuating mechanism is used for realizing the lift of lifter plate 41, and unmanned aerial vehicle takes off and land platform 2 and sets up on lifter plate 41, and lift actuating mechanism drives the lift of lifter plate 41, then realizes placing the lift of unmanned aerial vehicle 3 on unmanned aerial vehicle takes off and land platform 2. The lifting driving mechanism can be an actuating mechanism capable of performing long-stroke reciprocating linear motion in the field of mechanical automation, and the specific way of realizing the lifting of the lifting plate 41 by the lifting driving mechanism is as follows: the lifting driving mechanism comprises a driving screw 421, a lifting driving motor 422 and a synchronous belt 423, the four driving screws 421 are respectively vertically arranged in the carriage 1, the driving screws 421 are common technical products in the field, and are vertically arranged and fixed in the carriage 1, and are also mature technologies in the field, so that the specific arrangement mode of the driving screws 421 in the carriage 1 is not described in detail herein, the four vertex angles of the lifting plate 41 are correspondingly sleeved on the driving screws 41, specifically, the vertex angles of the lifting plate 41 are connected with sliding bases on the driving screws 41, the rotation of the driving screws 41 can drive the sliding bases to move on the screws, so as to realize the up-and-down movement of the lifting plate 41, the lifting driving motor 422 is used for driving one of the driving screws 421 to rotate, the synchronous belt 423 is used for realizing the synchronous rotation of the four driving screws 421, the specific implementation technical manner of the synchronous belt 423 for realizing the synchronous rotation of the four driving screws 421 is a known technique in the art, so the specific combination manner of the synchronous belt 423 and the driving screws 421 is not described in detail herein; the controller controls the operation of the lifting driving motor 422, and in this embodiment, the lifting driving motor 422 may be a stepping motor, so as to facilitate the realization of the lifting control accuracy of the lifting plate 41.
In practical application, the basic station utilizes tracking antenna and unmanned aerial vehicle in flight to carry out real-time communication butt joint to realize unmanned aerial vehicle's flight control, unmanned aerial vehicle take off and land platform 2 is used for the support that unmanned aerial vehicle takes off and unmanned aerial vehicle's descending navigation and descending support to be fixed, and in this embodiment, unmanned aerial vehicle take off and land platform 2's embodiment is: the unmanned aerial vehicle taking-off and landing platform 2 comprises a taking-off and landing plate 21, a first supporting platform 22 and an unmanned aerial vehicle auxiliary fixing mechanism, wherein first optical identification patterns used for identifying and positioning the unmanned aerial vehicle are arranged on the taking-off and landing plate 21, the first optical identification patterns can be combined patterns with specific shapes and obvious color step division degrees or two-dimensional code patterns 2111, and the two-dimensional code patterns 2111 have the advantages of high identification degree and the like; the unmanned aerial vehicle 3 takes off and lands and is finally finished on the take-off and landing board 21, when the unmanned aerial vehicle 3 lands, in order to facilitate the unmanned aerial vehicle 3 to rapidly reduce the searching range of the positioning take-off and landing board 21 in the later stage of landing, here, a GPS positioning device can be arranged on the take-off and landing board 21, a GPS positioning device is also arranged on the unmanned aerial vehicle 3, when the unmanned aerial vehicle 3 searches and positions the take-off and landing board 21, the searching of the position of the take-off and landing board 21 within a range of several meters can be realized by differentiating position signals transmitted by two GPS, after the unmanned aerial vehicle 3 finds the take-off and landing board 21, the unmanned aerial vehicle 3 continuously processes the first optical identification pattern acquired by the unmanned aerial vehicle 3 in real time by utilizing the existing image identification positioning technology, and adjusts the flight attitude in real time according to the processing result, thereby realizing accurate landing on the take-off and landing board 21 under the navigation of the first optical identification pattern, and further facilitating the automatic recovery technology of the unmanned aerial vehicle 3, the recovery principle is not only suitable for automatic recovery of a multi-rotor unmanned aerial vehicle, but also suitable for automatic recovery of a vertical take-off and landing fixed-wing unmanned aerial vehicle; first supporting platform 22 sets up on the lifter plate 41, take off and land board 21 and set up on the first supporting platform 22, the supplementary fixed establishment of unmanned aerial vehicle includes four fixture, each fixture all includes supporting rod 23 and supporting rod actuating mechanism 24, four two bisymmetry distributions of supporting rod 23 are in on the board 21 takes off and land, through the action of supporting rod actuating mechanism 24 drive supporting rod, can realize that the centre gripping of four supporting rods 23 is close to the action or to the outer fringe dispersion action of board 21 takes off and land, in this embodiment, the controller is according to control command, controls the operation of supporting rod actuating mechanism 24, realizes the centre gripping or the release action of four supporting rods 23 then.
In order to improve the landing safety of the unmanned aerial vehicle 3 and facilitate the realization of the clamping area between the four clamping rods 23 aligned with the posture of the unmanned aerial vehicle when the unmanned aerial vehicle 3 lands, the landing plate 21 is set to be circular, further, a rotary support seat 411 is provided on the lifting plate 41, a support plate 412 is provided on the rotary support seat 411, the first support table 22 is provided on the support plate 412, a rotary driving mechanism can realize the rotation of the first support table 22 by driving the rotation of the support plate 412, the controller controls the operation of the rotary driving mechanism, in this embodiment, the rotary driving mechanism can be a stepping motor, and the controller drives the rotary 411 to perform directional rotation by receiving a rotary positioning signal of the support seat (in this embodiment, the rotary positioning signal is sent by the unmanned aerial vehicle 3 which is landing), therefore, the clamping areas of the four clamping rods 23 are aligned with the unmanned aerial vehicle 3, landing clamping of the unmanned aerial vehicle is realized under the strong wind condition, successful landing of the unmanned aerial vehicle under the strong wind condition is facilitated, an auxiliary lifting plate 413 is arranged between the periphery of the lifting plate 21 and the side wall of the carriage 1, the auxiliary lifting plate 413 is fixedly arranged on the lifting plate 41, and safety guarantee of the unmanned aerial vehicle 3 during landing can be improved due to the arrangement of the auxiliary lifting plate 413; a rotation gap is arranged between the auxiliary lifting plate 413 and the lifting plate 21, so that smooth rotation of the lifting plate 21 is facilitated.
When the base station is placed in a field operation environment, in order to improve the protection capability of the unmanned aerial vehicle 3 and further improve the safety landing guarantee of the unmanned aerial vehicle 3, two top covers 11 are arranged at the upper part of the carriage 1, after the lifting plate 21 is positioned at the highest position, the upper planes of the auxiliary lifting plate 413 and the top covers 11 are both in the same horizontal plane, and the upper planes of the two top covers 11 in an open state and the upper plane of the auxiliary lifting plate 413 form a larger support plane, so that the landing safety of the unmanned aerial vehicle 3 is improved; for further improving unmanned aerial vehicle 3's accurate descending reliability, here, each 11 upper portions of top cap all set up a second optical identification pattern, in this embodiment, the embodiment of second optical identification pattern is the same with the embodiment technical scheme of first optical identification pattern, but only lies in the size of second optical identification pattern and will be big, thereby be convenient for unmanned aerial vehicle 3 when far away, alright can discern the second optical identification pattern, thereby realize unmanned aerial vehicle 3's preliminary accurate descending location. The two top covers 11 respectively realize the opposite or back movement through a top cover driving mechanism, and when the two top covers 11 move in the opposite direction, the upper part of the carriage 1 is sealed, so that the unmanned aerial vehicle 3 in the carriage 1 can be sheltered from wind and rain; when 3 take-offs or retrieves of unmanned aerial vehicle are carried out to needs, two top caps 11 carry out dorsad motion to make carriage 1 be in the state of opening, then do benefit to the rise that realizes unmanned aerial vehicle take off and land platform 2, top cap actuating mechanism be a reciprocating motion actuating mechanism can, in this embodiment, top cap actuating mechanism is an electric putter or hold-in range linear module, the controller is used for controlling top cap actuating mechanism's operation, thereby be convenient for realize the automation of top cap and open and close. After the two top covers 11 are combined, the interior of the carriage 1 is sealed, so that the basic waterproof and dustproof functions of the base station are realized.
In order to realize the obvious setting of first optical identification pattern on board 21 that takes off and land, reduce the supporting rod 23 and influence the sheltering from of first optical identification pattern to be convenient for unmanned aerial vehicle 3 is descending navigation in-process, realize the accurate discernment of first optical identification pattern, here, make the concrete implementation mode of board 21 that takes off and land be: the board 21 that takes off and land includes last flat board 211 and lower flat board 212, go up flat board 211 and lower flat board 212 and link together from top to bottom, leave the supporting rod clearance between last flat board 211 and lower flat board 212, first optical identification pattern sets up on going up flat board 211, supporting rod 23 is an L shape pole, L shape pole sets up on the flat board 212 down, and the horizontal pole 231 of L shape pole can free rotation in the supporting rod clearance go up be provided with on the flat board 211, with the arc motion orbit matched with arc wall 2112 of the montant of L shape pole, supporting rod actuating mechanism 24 is a step motor, step motor sets up the lower part of lower flat board 212, and step motor's output shaft with the horizontal pole 231 one end of L shape pole is connected, through step motor's rotation, realizes the rotation of L shape pole. When the combined design scheme of the upper flat plate 211 and the lower flat plate 212 is adopted for the lifting plate 21, the upper plane of the auxiliary lifting plate 413 and the upper plane of the upper flat plate 211 can be implemented by adopting a design scheme that the upper planes of the auxiliary lifting plate 413 and the upper plane of the upper flat plate 211 are positioned on the same horizontal plane or a design scheme that the upper plane of the auxiliary lifting plate 413 is positioned below the cross rod 231, when the design scheme that the upper plane of the auxiliary lifting plate 413 and the upper plane of the upper flat plate 211 are positioned on the same horizontal plane is adopted, in order to facilitate the sufficient expansion of the clamping rod 23, here, an arc-shaped groove matched with the running track of the vertical rod of the clamping rod 23 can be arranged on the auxiliary lifting plate 413, and the vertical rod of the clamping rod 23 moves in the arc-shaped groove, so that the expansion and contraction motions of the clamping rod 23 are not influenced by the auxiliary lifting plate 413; when the design scheme that the upper plane of the auxiliary lifting plate 413 is located below the cross rod 231 is adopted for implementation, at the moment, the cross rod 231 is located below the upper flat plate 211, and the auxiliary lifting plate 413 is located below the cross rod 231, so that the auxiliary lifting plate 413 does not influence the expansion and contraction movement of the clamping rods 23, and then the clamping rods 23 can be sufficiently expanded conveniently.
When the controller controls the stepping motor to enable the L-shaped rods to clamp, the L-shaped rods perform appointed rotation, after the L-shaped rods rotate in place, the vertical rods of the four L-shaped rods can just form a front and back clamping effect on the unmanned aerial vehicle 3, so that the unmanned aerial vehicle 3 can be assisted and fixed, and when the vertical rods of the L-shaped rods are in a clamping and positioning state, a certain gap exists between the side walls of the L-shaped rods and the side walls of the main wings of the vertical take-off and landing fixed wing unmanned aerial vehicle or a certain gap exists between the side walls of the L-shaped rods and landing support legs of the rotor unmanned aerial vehicle; the setting in above-mentioned clearance does benefit to unmanned aerial vehicle 3's the next smooth back of taking off, and when unmanned aerial vehicle 3 back of taking off, the controller makes L shape pole carry out outside swing through controlling step motor to enlarged unmanned aerial vehicle 3 and descended the region next time, provide the guarantee for unmanned aerial vehicle 3's the smooth centre gripping next time.
In the practical application process, under the condition that only one set of unmanned aerial vehicle take-off and landing platform 2 is arranged in the base station, at this time, only one set of unmanned aerial vehicle 3 is provided, when the unmanned aerial vehicle 3 is a vertical take-off and landing fixed-wing unmanned aerial vehicle with a foldable main wing, after the vertical take-off and landing fixed-wing unmanned aerial vehicle finishes the folding and landing of the main wing on the take-off and landing plate 21, and needs to enter into the carriage 1, in order to facilitate the homing processing of the propellers of the unmanned aerial vehicle (i.e. to make the length direction of the propellers of the unmanned aerial vehicle substantially consistent with the length direction of the corresponding side wall of the carriage 1) so as to achieve the minimum design of the base station structure, here, two sets of propeller homing mechanisms symmetrically distributed on the upper side inside the carriage are arranged in the carriage 1, each set of the propeller homing mechanism comprises a semicircular push plate 52 and a homing drive motor 51, the homing drive motor 51 is arranged on the side wall of the carriage 1, the homing driving motor 51 can drive the semicircular pushing plate 52 to rotate, the controller controls the operation of the homing driving motor 51, specifically, when the unmanned aerial vehicle descends along with the lifting plate 21 and needs to start the position of the homing driving motor 51, the controller immediately starts the homing driving motor 51 so as to realize the rotation of the semicircular pushing plate 52, the semicircular pushing plate 52 can push the rotation of the propeller contacted with the semicircular pushing plate in the continuous descending process of the unmanned aerial vehicle and the rotation matching process of the semicircular pushing plate 52, the swinging direction of the propeller is basically consistent with the direction of the corresponding side wall of the carriage 1, and after the directions are basically consistent, the propeller is prevented from interfering with the side wall of the carriage 1 in the continuous descending process of the unmanned aerial vehicle, so that the protection of the unmanned aerial vehicle is realized; when being provided with multiunit unmanned aerial vehicle platform 2 that takes off and land in the basic station, this moment, contain many unmanned aerial vehicle 3 in the carriage 1, when considering carriage structural dimension size needs optimization, can be provided with the screw playback mechanism that the multiunit is used for 3 screw playback of many unmanned aerial vehicle in carriage 1, each unmanned aerial vehicle 3 carries out the playback through two sets of screw playback mechanisms, to the design of multiunit screw playback mechanism in carriage 1, can carry out concrete design according to the concrete distribution position of many unmanned aerial vehicle 3 in carriage 1.
In practical application, the carriage 1 can be arranged in a fixed design and placed in a designated area, such as the ground or a ship; the carriage 1 can also adopt a movable design mode to perform maneuvering movement according to requirements, for example, the carriage 1 is arranged on a moving automobile, the movement of the carriage 1 is realized through the movement of the automobile, or moving wheels are arranged at the lower part of the carriage 1, the carriage 1 is dragged to move through a moving tool, or the carriage 1 is directly arranged into a command car, a plurality of groups of unmanned aerial vehicle take-off and landing platforms 2 are arranged in the command car, a manual control console is arranged in the command car, and a worker can send an instruction to a controller through the manual control console so as to realize the automatic take-off, cruising and recovery of the unmanned aerial vehicle 3; when the unmanned aerial vehicle control system is applied, the intermittent flight control can be carried out on a plurality of unmanned aerial vehicles 3 in the command vehicle, so that the continuous outdoor operation capability of the command vehicle can be improved, and the execution of long-time continuous flight tasks in the field can be met; further, can realize vertical VTOL fixed wing unmanned aerial vehicle and many rotor unmanned aerial vehicle's coexistence in the command car, utilize the advantage that vertical VTOL fixed wing unmanned aerial vehicle flying distance is far away to carry out the execution of remote flight task, utilize the nimble flexible motor-driven advantage of many rotor unmanned aerial vehicle, can carry out the execution of diversified regional task of deciding, the flight communication to one or many unmanned aerial vehicle 3 is realized to the usable tracking antenna of command car, tracking antenna can independently erect according to actual demand setting in the command car or in the appointed area.
In order to improve the continuous operation ability of basic station for this, be provided with on-vehicle generator in the carriage 1, be provided with on board 21 takes off and land can with vertical VTOL fixed wing unmanned aerial vehicle's the port that charges or many rotor unmanned aerial vehicle's the port matched with interface that charges, after unmanned aerial vehicle descends on board 21 takes off and land, according to unmanned aerial vehicle's battery power condition, carry out the selection whether to charge to can improve unmanned aerial vehicle's long-term operation ability, on-vehicle generator is used for providing charging source, then be convenient for realize unmanned aerial vehicle's the supply of charging.
In order to improve the adaptability of the base station in the field, a temperature and humidity control system can be arranged in the carriage 1, and the temperature and humidity control system can control the temperature and humidity in the carriage 1 to be within a reasonable range, so that the normal operation of each actuating mechanism in the carriage 1 under the extreme field condition can be ensured; still can be provided with wind direction wind speed survey system on the basic station, in the application, the basic station can be according to the monitoring condition of wind direction wind speed survey system, whether possess unmanned aerial vehicle 3's flight condition is judged in real time.
The control flow for realizing automatic take-off, cruising and recovery of the unmanned aerial vehicle 3 in the base station is as follows: the working personnel sends a flight instruction to the controller, after the controller receives the flight instruction, firstly, the top cover 11 on the carriage 1 is opened, then the unmanned aerial vehicle take-off and landing platform 2 is lifted to a set height by using the lifting plate 41, the unmanned aerial vehicle take-off and landing platform 2 is lifted to the set height, the clamping rod 23 of the auxiliary clamping unmanned aerial vehicle 3 is unfolded by the controller, then the unmanned aerial vehicle 3 takes off automatically, after the unmanned aerial vehicle 3 takes off automatically, the flight mission execution is carried out according to the air route specified by the instruction, after the flight mission is finished, the unmanned aerial vehicle 3 returns automatically, during the return process, the unmanned aerial vehicle 3 firstly uses the GPS difference technology to realize the primary locking of the position of the take-off and landing plate 21, after the unmanned aerial vehicle 3 firstly finds the second optical identification pattern on the top cover 11, the unmanned aerial vehicle 3 uses the existing image identification and positioning technology to continuously process the second optical identification pattern acquired by the unmanned aerial vehicle in real time, and adjusting the flight attitude in real time according to the processing result, thereby continuously landing under the navigation of the second optical identification pattern, in the continuous landing process, after the unmanned aerial vehicle finds the landing plate 21, the unmanned aerial vehicle 3 continuously processes the optical identification pattern acquired by the unmanned aerial vehicle in real time by using the existing image identification positioning technology, and adjusts the flight attitude in real time according to the processing result, thereby realizing accurate landing on the landing plate 21 under the navigation of the optical identification pattern, at the moment that the unmanned aerial vehicle 3 lands on the landing plate 21, the controller starts the clamping rod 23 to make the clamping rod 23 perform auxiliary positioning on the unmanned aerial vehicle 3, thereby finally completing the landing of the unmanned aerial vehicle 3, after the landing of the unmanned aerial vehicle 3 is completed, the controller makes the lifting plate 41 land to the initial position, then the unmanned aerial vehicle 3 is recovered into the carriage 1, and after the unmanned aerial vehicle 3 is recovered in place, the controller closes the top cover 11 to complete the flight mission.
In addition to the technical features described in the specification, the technology is known to those skilled in the art.
The above description is provided for the preferred embodiments and examples of the present invention with reference to the accompanying drawings, but the present invention is not limited to the above embodiments and examples, and it will be apparent to those skilled in the art that various modifications and variations can be made without departing from the spirit of the present invention, and these modifications and variations should be construed as the protection scope of the present invention.
Claims (9)
1. The utility model provides an unmanned aerial vehicle is base station that receive and releases independently, includes at least a set of unmanned aerial vehicle platform that takes off and land, characterized by, should receive and release the base station and still include carriage, unmanned aerial vehicle, elevating system, controller, elevating system sets up in the carriage, and an unmanned aerial vehicle and a set of unmanned aerial vehicle platform that takes off and land is corresponding, unmanned aerial vehicle platform that takes off and land is used for the unmanned aerial vehicle to take off and the support that bears when descending, elevating system is used for realizing the lift and the location of unmanned aerial vehicle platform that takes off and land in the carriage.
2. The unmanned aerial vehicle autonomous deploying and retracting base station of claim 1, wherein the lifting mechanism comprises at least one set of lifting platform, each set of lifting platform comprises a lifting plate and a lifting driving mechanism, the lifting plate and the lifting driving mechanism are arranged in the carriage, and the lifting driving mechanism is used for realizing lifting and positioning of the lifting plate.
3. The unmanned aerial vehicle autonomous deploying and retracting base station of claim 2, wherein the unmanned aerial vehicle take-off and landing platform comprises a take-off and landing board, a first supporting table and an unmanned aerial vehicle auxiliary fixing mechanism, a first optical recognition pattern for unmanned aerial vehicle recognition and positioning is arranged on the take-off and landing board, the first supporting table is arranged on the lifting board, the take-off and landing board is arranged on the first supporting table, the unmanned aerial vehicle auxiliary fixing mechanism comprises four clamping mechanisms, each clamping mechanism comprises a clamping rod and a clamping rod driving mechanism, the four clamping rods are symmetrically distributed on the take-off and landing board in pairs, the clamping rods are driven to move by the clamping rod driving mechanisms, and clamping of the four clamping rods can be close to the movement or disperse movement to the outer edge of the take-off and landing board.
4. The unmanned aerial vehicle autonomous retraction base station as claimed in claim 3, wherein the take-off and landing plate is circular, a rotary support base is provided on the lifting plate, a support plate is provided on the rotary support base, the first support platform is provided on the support plate, a rotary driving mechanism can drive the support plate to rotate to realize rotation of the first support platform, the controller controls operation of the rotary driving mechanism, an auxiliary take-off and landing plate is provided between the periphery of the take-off and landing plate and the side wall of the carriage, the auxiliary take-off and landing plate is fixedly provided on the lifting plate, and a rotation gap is provided between the auxiliary take-off and landing plate and the take-off and landing plate.
5. The unmanned aerial vehicle autonomous retraction base station as claimed in claim 4, wherein two top covers are disposed on the upper portion of the carriage, when the landing board is positioned at the highest position, the upper planes of the auxiliary landing board and the top covers are all in the same horizontal plane, a second optical identification pattern is disposed on the upper portion of each top cover, the two top covers are moved in the opposite direction or in the opposite direction by a top cover driving mechanism, and the controller is used for controlling the operation of the top cover driving mechanism.
6. The unmanned aerial vehicle receive and releases basic station voluntarily of claim 5, characterized by, the board that takes off and land includes upper plate and lower flat board, upper plate and lower flat board link together from top to bottom, leave the supporting rod clearance between upper plate and lower flat board, first optical identification pattern sets up on the upper plate, the supporting rod is an L shape pole, the L shape pole sets up on the lower flat board, and the horizontal pole of L shape pole can freely rotate in the supporting rod clearance, be provided with on the upper plate, with the arc motion orbit matched with arc wall of the montant of L shape pole, supporting rod actuating mechanism is a step motor, step motor sets up in the lower part of lower flat board, and step motor's output shaft with the horizontal pole one end of L shape pole is connected.
7. The unmanned aerial vehicle autonomous deploying and retracting base station of claim 6, wherein the lifting drive mechanism comprises drive screws, a lifting drive motor and a synchronous belt, the four drive screws are respectively vertically arranged in the carriage, the four corners of the lifting plate are correspondingly sleeved on the drive screws, the lifting plate is moved up and down by the rotation of the drive screws, the lifting drive motor is used for driving one of the drive screws to rotate, the synchronous belt is used for realizing the synchronous rotation of the four drive screws, and the controller controls the operation of the lifting drive motor.
8. The unmanned aerial vehicle autonomous retraction base station as claimed in claim 7, wherein the retraction base station comprises a set of unmanned aerial vehicle take-off and landing platform, two sets of propeller homing mechanisms are arranged in the carriage and symmetrically distributed on the upper side in the carriage respectively, each set of propeller homing mechanism comprises a semicircular push plate and a homing drive motor, the homing drive motors are arranged on the side walls of the carriage, the homing drive motors can drive the semicircular push plates to rotate, and the controller controls the operation of the homing drive motors.
9. The unmanned aerial vehicle autonomous deploying and retracting base station of claim 7, wherein the carriage can be placed in a designated area in a fixed design mode or in a mobile design mode and can be moved flexibly according to requirements; when the carriage adopts a movable design mode, the carriage is set into a command vehicle, a manual control console is further arranged in the command vehicle, and the manual control console can communicate with the controller.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114312540A (en) * | 2021-12-31 | 2022-04-12 | 翔鸿电子科技（深圳）有限公司 | Unmanned aerial vehicle descending capture device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114312540A (en) * | 2021-12-31 | 2022-04-12 | 翔鸿电子科技（深圳）有限公司 | Unmanned aerial vehicle descending capture device |
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