CN215407729U

CN215407729U - Unmanned aerial vehicle chassis system and unmanned aerial vehicle mobile hangar

Info

Publication number: CN215407729U
Application number: CN202121402065.0U
Authority: CN
Inventors: 王海滨
Original assignee: Skysys Intelligent Technology Suzhou Co ltd
Current assignee: Skysys Intelligent Technology Suzhou Co ltd
Priority date: 2021-06-23
Filing date: 2021-06-23
Publication date: 2022-01-04
Anticipated expiration: 2031-06-23

Abstract

The utility model relates to an unmanned aerial vehicle chassis system and an unmanned aerial vehicle mobile hangar, wherein the unmanned aerial vehicle chassis system comprises a chassis, a hub motor system and an independent suspension system; the hub motor system comprises a front hub motor mechanism, a first rear hub motor mechanism and a second rear hub motor mechanism; the first rear hub motor mechanism comprises two first rear hub motors which are symmetrically distributed about the chassis, and the second rear hub motor mechanism comprises two second rear hub motors which are symmetrically distributed about the chassis; the independent suspension system comprises four matched independent suspensions, and the first rear hub motor and the second rear hub motor are respectively connected with the corresponding independent suspensions. Through the arrangement, the problems that the obstacle crossing capability of the existing unmanned vehicle is weak, and the stability of the unmanned vehicle body is poor in the obstacle crossing process can be solved.

Description

Unmanned aerial vehicle chassis system and unmanned aerial vehicle mobile hangar

Technical Field

The utility model relates to the technical field of unmanned vehicle chassis, in particular to an unmanned vehicle chassis system and an unmanned vehicle mobile hangar.

Background

Based on present limited wireless charging and communication technology, unmanned aerial vehicle can't be for a long time outside independent work, and the inefficiency of unmanned aerial vehicle self collection information or image.

At unmanned aerial vehicle patrol in the past in-process, unmanned aerial vehicle generally interacts with fixed ground satellite station, need arrange ground satellite station in advance, and information transfer distance is far away between the two, information collection inefficiency for patrol the line cost on the high side.

Among the prior art, can set up the air park on unmanned vehicle for bear unmanned aerial vehicle, solve above-mentioned problem through portable unmanned aerial vehicle hangar promptly. But present unmanned vehicle is because self structural design reason, and obstacle crossing ability is relatively weak, and is more poor at obstacle crossing in-process unmanned vehicle car body stability, is unfavorable for unmanned vehicle and unmanned aerial vehicle's overall performance stable.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems, the utility model aims to provide an unmanned vehicle chassis system and an unmanned vehicle mobile hangar, wherein the unmanned vehicle chassis system is used for solving the problems of weak obstacle crossing capability and poor stability of an unmanned vehicle body in the obstacle crossing process of the existing unmanned vehicle.

In order to achieve one of the above purposes of the present invention, an embodiment of the present invention provides an unmanned vehicle chassis system, which includes a chassis, a wheel hub motor system, and an independent suspension system;

the hub motor system comprises a front hub motor mechanism, a first rear hub motor mechanism and a second rear hub motor mechanism; the first rear hub motor mechanism comprises two first rear hub motors which are symmetrically distributed about the chassis, and the second rear hub motor mechanism comprises two second rear hub motors which are symmetrically distributed about the chassis;

the independent suspension system comprises four matched independent suspensions, and the first rear hub motor and the second rear hub motor are respectively connected with the corresponding independent suspensions.

As a further improvement of an embodiment of the present invention, the independent suspension is a wishbone type suspension, which includes a shock absorbing lever and a crossbar mechanism; the bottom end of the shock absorption rod is hinged to one side, close to the chassis, of the first rear hub motor and the second rear hub motor, and the top end of the shock absorption rod is hinged to a frame of the unmanned vehicle; the first end of the cross rod mechanism is hinged to one side, close to the chassis, of the first rear hub motor and the second rear hub motor, and the second end of the cross rod mechanism is hinged to the chassis.

As a further improvement of an embodiment of the present invention, the unmanned vehicle chassis system further includes an obstacle crossing plate, one end of the obstacle crossing plate is rotatably connected to a central shaft of the first rear hub motor, the other end of the obstacle crossing plate is rotatably connected to a central shaft of the second rear hub motor, and a middle portion of the obstacle crossing plate is hinged to the chassis through a hinge.

As a further improvement of an embodiment of the present invention, the front hub motor mechanism includes two front hub motors symmetrically distributed about the chassis, and the front hub motors are fixedly connected to the chassis.

As a further improvement of an embodiment of the present invention, the chassis system of the unmanned vehicle further includes a hinged support, the top end of the shock-absorbing rod is hinged to the frame of the unmanned vehicle through the hinged support, and the second end of the cross-bar mechanism is hinged to the chassis through the hinged support.

The utility model also provides an unmanned aerial vehicle mobile hangar, which comprises an unmanned vehicle body and a hangar, wherein the hangar is arranged on the unmanned vehicle body; the unmanned vehicle body comprises the unmanned vehicle chassis system.

As a further improvement of an embodiment of the present invention, the unmanned vehicle body further includes an unmanned vehicle control system, the unmanned vehicle control system includes a motor encoder and a signal control line, and the motor encoder is disposed at the front end of the chassis and is in signal connection with all the hub motors through the signal control line.

As a further improvement of an embodiment of the present invention, the unmanned vehicle body further includes an electric power system, the electric power system includes a lithium battery and an in-wheel motor electric power transmission line, and all in-wheel motors are electrically connected to the lithium battery through the in-wheel motor electric power transmission line, respectively.

As a further improvement of an embodiment of the present invention, the power system further includes a transformer, and all of the in-wheel motors are respectively connected to the lithium batteries through the transformer.

As a further improvement of an embodiment of the present invention, the unmanned vehicle control system further includes a central controller disposed in an interlayer of the unmanned vehicle body; the central controller is in signal connection with the motor encoder and is used for transmitting the control signal of the hub motor.

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

the chassis system of the unmanned vehicle is provided with a hub motor system and an independent suspension system; the hub motor system comprises two front hub motors, two first rear hub motors and two second rear hub motors which are symmetrically arranged respectively; the two first rear hub motors and the two second rear hub motors are respectively connected with four matched independent suspensions; therefore, when the four rear hub motors do independent vertical lifting motion relative to the unmanned aerial vehicle body, the independent suspension can be used for adjusting the motion state of the unmanned aerial vehicle body, so that the obstacle crossing capability of the unmanned aerial vehicle body is improved, and the obstacle crossing is quickly and stably realized.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the utility model, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

Fig. 1 is a schematic diagram of a front right overall structure of an unmanned aerial vehicle mobile hangar in an embodiment of the utility model; (ii) a

FIG. 2 is a schematic left-rear overall structure of the mobile hangar of the unmanned aerial vehicle in the embodiment of the utility model;

fig. 3 is a schematic structural diagram of the bottom of the mobile hangar of the unmanned aerial vehicle in the embodiment of the utility model;

FIG. 4 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the utility model;

FIG. 5 is a schematic rear view of an unmanned vehicle according to an embodiment of the present invention;

fig. 6 is a diagram of an internal device of a detachable unmanned aerial vehicle hangar in an embodiment of the present invention;

FIG. 7 is a schematic view of the attachment of the nacelle cover according to an embodiment of the utility model;

FIG. 8 is a schematic view of a connection mode between an unmanned aerial vehicle hangar and an unmanned vehicle according to an embodiment of the utility model; (ii) a

FIG. 9 is a logic diagram of a control system in accordance with an embodiment of the present invention;

FIG. 10 is a wiring diagram of a control system in an embodiment of the present invention;

fig. 11 is a schematic structural view of an overhead view of an unmanned vehicle according to an embodiment of the present invention.

Wherein the reference numbers referred to in the figures are as follows:

1-a cabin cover; 2-detachable hangar shell; 3-unmanned vehicle shell; 4-a display screen; 5-front camera; 6-standby button; 7-a reset button; 8-brake button; 9-power switch; 10-a hub motor; 11-obstacle crossing; 12-independent suspension; 1201-independent suspension fixed hinge mount; 1202-independent suspension shock absorber rods; 1203-independent suspension rail; 13-turning a rear cover; 14-hangar door; 15-a crankshaft; 16-laser radar; 17-GPS; 18-apron lifting device; 19-tarmac; 20-a wireless communication module; 21-a charger; 22-rear camera; 23-hub motor transmission line; 24-a hub motor encoder; 25-a frame; 26-a cover plate; 27-a gyroscope; 28-a lithium battery; 29-a controller; 30-a chassis; 31-a cabin cover opening and closing system; 3101-driving the motor; 3102-driving wheel; 3103-a belt; 3104-a tension wheel; 3105-driven wheels; 3106-free bearing; 32-apron lift system; 3201-apron support; 3202-lead screw; 3203-sliding rail; 3204-base; 33-charging system.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail and completely with reference to the following detailed description of the utility model and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the utility model, and not restrictive of the full scope of the utility model. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

As shown in fig. 5, an embodiment of the present invention provides an unmanned vehicle chassis system, which includes a chassis, a hub motor system, and an independent suspension system;

Specifically, a wheel hub motor system and an independent suspension system are arranged in a chassis system of the unmanned vehicle; the hub motor system comprises two front hub motors, two first rear hub motors and two second rear hub motors which are symmetrically arranged respectively; the two first rear hub motors and the two second rear hub motors are respectively connected with four matched independent suspensions; therefore, when the four rear hub motors do independent vertical lifting motion relative to the unmanned aerial vehicle body, the independent suspension can be used for adjusting the motion state of the unmanned aerial vehicle body, so that the obstacle crossing capability of the unmanned aerial vehicle body is improved, and the obstacle crossing is quickly and stably realized.

Furthermore, the independent suspension is a cross-arm type suspension, and the cross-arm type suspension comprises a shock absorption rod and a cross rod mechanism; the bottom end of the shock absorption rod is hinged to one side, close to the chassis, of the first rear hub motor and one side, close to the chassis, of the second rear hub motor, and the top end of the shock absorption rod is hinged to a frame of the unmanned vehicle; the first end of the cross rod mechanism is hinged to one side, close to the chassis, of the first rear hub motor and the second rear hub motor, and the second end of the cross rod mechanism is hinged to the chassis.

Therefore, the independent suspension can play a role in supporting and can also play a role in damping the unmanned vehicle body.

Furthermore, the unmanned vehicle chassis system further comprises a crossing plate, one end of the crossing plate is rotatably connected with a central shaft of the first rear hub motor, the other end of the crossing plate is rotatably connected with a central shaft of the second rear hub motor, and the middle part of the crossing plate is hinged on the chassis through a hinge.

In actual use, the obstacle crossing plate is used for restraining central shafts of the first rear hub motor and the second rear hub motor on the same straight line, so that the stability of the unmanned vehicle body can be ensured at any time in the process of crossing obstacles and the like.

Furthermore, the front hub motor mechanism comprises two front hub motors which are symmetrically distributed relative to the chassis, and the front hub motors are fixedly connected to the chassis.

In actual use, the front end of the unmanned vehicle body has fewer parts, and the front hub motor is fixedly connected to the chassis.

Furthermore, the unmanned vehicle chassis system further comprises a hinged support, the top end of the shock absorption rod is hinged to a frame of the unmanned vehicle through the hinged support, and the second end of the cross rod mechanism is hinged to the chassis through the hinged support.

Therefore, each part of the independent suspension can be conveniently rotated to realize the adjustment function.

The embodiment of the utility model also provides an unmanned aerial vehicle mobile hangar, which comprises an unmanned vehicle body and a hangar, wherein the hangar is arranged on the unmanned vehicle body; the unmanned vehicle body comprises the unmanned vehicle chassis system.

In the in-service use, above-mentioned unmanned aerial vehicle chassis system locates in the unmanned vehicle of unmanned aerial vehicle mobile hangar for promote unmanned vehicle hinder ability and hinder stability more.

Furthermore, the unmanned vehicle body further comprises an unmanned vehicle control system, the unmanned vehicle control system comprises a motor encoder and a signal control line, and the motor encoder is arranged at the front end of the chassis and is in signal connection with all the hub motors through the signal control line.

Therefore, each hub motor can independently rotate, so that the unmanned vehicle can steer in a differential mode.

Furthermore, the unmanned vehicle body further comprises an electric power system, the electric power system comprises a lithium battery and an in-wheel motor electric power transmission line, and all in-wheel motors are electrically connected with the lithium battery through the in-wheel motor electric power transmission line respectively.

In actual use, the unmanned vehicle is provided with the lithium battery, so that all hub motors are powered.

Furthermore, the power system further comprises transformers, and all the hub motors are connected to the lithium batteries through the transformers respectively.

In addition, a transformer is arranged, and the hub motor is supplied with power after voltage transformation.

Furthermore, the unmanned vehicle control system also comprises a central controller which is arranged in an interlayer of the unmanned vehicle body; the central controller is in signal connection with the motor encoder and is used for transmitting the control signal of the hub motor.

Therefore, the central controller uniformly controls the hub motors, so that each hub motor independently rotates and differential steering of the unmanned vehicle is guaranteed.

In a specific embodiment of the utility model, the unmanned aerial vehicle mobile hangar is provided, and has the characteristics of saving the arrangement time on a ground station, reducing the cost, improving the working efficiency, having a large control range, being stable in data transmission and the like.

Specifically, unmanned aerial vehicle removes hangar includes:

1. detachable unmanned aerial vehicle hangar

1.1, an unmanned aerial vehicle parking apron is a platform for taking off and landing of an unmanned aerial vehicle, is arranged in the center of a detachable unmanned aerial vehicle hangar, and can ascend and descend in the vertical direction through connection of screw rods at two ends;

1.2 charging system, charging system install in the detachable unmanned aerial vehicle hangar bottom, and unmanned aerial vehicle can descend to the bottom along with the air park after getting into the hangar and carries out wireless charging. The energy source of the charging system is from a lithium battery of the unmanned vehicle body;

1.3 cover system, the cover system comprises both sides cover, two bent axles, driving motor, belt pulley. The driving motor drives the belt pulley to rotate the crankshaft, and drives the cover to open and close.

2. Unmanned vehicle body

And 2.1, the sensor system consists of a GPS, a gyroscope, a laser radar and front and rear cameras. Laser radar and GPS pass through detachable unmanned aerial vehicle hangar and install on the top of unmanned car, can rise or shrink back in the casing. The front and rear cameras are respectively installed on the vehicle shells at the front and rear ends of the unmanned vehicle body. The gyroscope is installed inside the unmanned vehicle body.

2.2, the chassis system consists of a vehicle beam, a chassis, an independent suspension and a hub motor. The wheel hub motor is connected on the independent suspension, and the motor can do independent vertical elevating movement for the unmanned aerial vehicle automobile body.

And 2.3, the control system consists of a controller, a motor encoder, a power switch, a brake button, a reset button and a standby button. The power switch, the brake button, the reset button and the standby button are arranged on an operation panel of the unmanned vehicle; the central controller is arranged in the interlayer of the vehicle body; the motor encoder is installed at the front end of the chassis, information is input by the central controller, signals are transmitted to the six hub motors on the chassis through data lines, and each hub motor independently rotates to enable the unmanned vehicle to steer in a differential mode.

And 2.4, the power system consists of a vehicle-mounted lithium battery, a charger and a hub motor power transmission line. The vehicle-mounted lithium battery and the charger are arranged at the rear end of the chassis, and the charger interface can be connected with a charging pile plug; six in-wheel motors are connected respectively by lithium cell one end to in-wheel motor power transmission line.

Preferably, the unmanned aerial vehicle body that unmanned aerial vehicle removed the hangar contains the car shell that can assemble, installs the car shell after detachable unmanned aerial vehicle hangar assembly is accomplished to protection unmanned aerial vehicle removes the garage.

Preferably, the frame of unmanned vehicle automobile body of unmanned aerial vehicle mobile hangar is formed by aluminum alloy ex-trusions and vehicle chassis concatenation, has advantages such as can dismantle, easy equipment, matter are light. The recess on the frame is used for using standard fastener to connect each part, like detachable unmanned aerial vehicle hangar, unmanned car shell etc..

Preferably, frame and the chassis of unmanned aerial vehicle mobile unit storehouse are carried out bolt zonulae occludens by frame aluminum alloy section bar terminal surface screw hole.

Preferably, the unmanned vehicle lithium battery of the unmanned mobile hangar can be detached from the rear side of the vehicle, so that the unmanned mobile hangar is convenient to replace; the charger at the rear cover of the vehicle is provided with an insertion opening which can be connected with a charging pile for charging.

Preferably, the sensor system in unmanned aerial vehicle mobile garage directly links on the controller of unmanned vehicle automobile body on the physical layer, and sensor system's GPS and laser radar's wiring need pass the wiring hole that detachable unmanned aerial vehicle hangar bottom was reserved from the controller of unmanned vehicle automobile body.

Preferably, the independent suspension of the chassis is a cross arm type suspension, the middle wheel hub and the rear wheel hub are respectively connected with grooves on two sides of the obstacle crossing plate, and the obstacle crossing plate is hinged to the vehicle body. The two hub motors on the same side can alternately ascend and descend in the vertical direction under the constraint of the suspension and the obstacle crossing plate.

Preferably, the cabin cover of detachable hangar is driven by belt pulley transmission, the bent axle and the connecting rod uniform end of controlling the motion of cabin cover are hinged inside the shell of detachable unmanned aerial vehicle hangar, and the other end is connected on the cabin cover. The crankshaft is hinged with the cabin cover and controls the cabin cover to open and close, and the connecting rod is connected with the groove on the cabin cover in a rotating and sliding manner. When the engine compartment cover is opened and closed, the tail end of the engine compartment cover can be always close to the shell of the engine room under the action of self weight.

Preferably, the apron of the detachable hangar can vertically lift in the hangar, the two sides of the apron are connected with the screw rods and the slide rails, and the screw rods on the two sides rotate the apron to lift stably during work.

Preferably, a power supply line of a charging system of the detachable hangar is connected with a lithium battery of the unmanned vehicle through a reserved wiring hole of the hangar.

Preferably, the GPS of the unmanned aerial vehicle mobile hangar adopts a differential positioning algorithm, the positioning of the unmanned aerial vehicle after single-point positioning is obtained is compared with the positioning of the ground base station, and more accurate positioning information is obtained after comparison and analysis.

Preferably, the detachable hangar cabin cover is provided with a wireless communication module integrated with an Sbus transceiver, and can receive and transmit 4G/5G signals with a ground station or perform signal diagram transmission with an unmanned aerial vehicle according to an RTSP \ UDP protocol.

Thus, compared with the prior art, the embodiment has the following advantages and positive effects:

the unmanned aerial vehicle hangar is placed on an unmanned vehicle capable of moving independently, and a sensor, a controller and moving parts required by intelligent tour are integrated, so that the unmanned aerial vehicle can be borne to arrive at the site quickly, the unmanned aerial vehicle is provided with the support of charging, information transmission and analysis, remote control, autonomous linkage of the unmanned aerial vehicle and the like, and meanwhile, information is fed back to a client of a ground station, the control range of the ground station is enlarged, the operation difficulty is reduced, and the unmanned aerial vehicle hangar is more favorable for man-machine interaction.

In the following, the above embodiments are further described in detail with reference to the accompanying drawings, and the mobile hangar of the unmanned aerial vehicle includes:

the engine room cover 1 is arranged at the top of the engine room, the left engine room cover and the right engine room cover are symmetrical, and four bending rods are respectively connected with the end close to the center line. Referring to fig. 6, a curved rod 15 near the midline can transmit torque from a driving motor 3101 to a driven wheel 3105 along a belt through a driving wheel 3102, and the driven wheel 3105 is fixedly connected with the curved rod 15. The tension wheel 3104, the driving wheel 3102 and the driven wheel 3105 are all hinged on the inner wall of the cabin shell 2, the curved rod 15 is hinged on the machine base 3106, and the machine base 3106 is fixedly connected on the inner wall of the cabin shell 2;

the parking apron 19 is arranged in a hangar shell of the unmanned aerial vehicle mobile hangar, the platform is connected with a guide rail 3203 through a support 3201 by a lead screw 3202 and a guide rail 3202 on two sides in the cabin shell 2, and meanwhile, the parking apron 19 can vertically lift from the bottom to the top of the hangar by rotating the lead screws on the two sides;

referring to fig. 1, the unmanned vehicle control panel is composed of a display screen 4, a front camera 5, a standby button 6, a reset button 7, a brake button 8 and a power switch 9;

referring to fig. 1-2, the hangar houses the lidar 16 and GPS17 sensor systems and is retractable into the housing 2 when not in operation.

The cabin cover 1 is provided with a wireless communication module 20 integrated with an Sbus receiver, and can receive and transmit 4G/5G signals with a ground station or perform signal diagram transmission with an unmanned aerial vehicle according to an RTSP \ UDP protocol;

referring to fig. 3, the hub motor power line 23 under the chassis 30 is composed of the power line and the control line of the hub motor 10. One end of the power transmission line 23 is connected with a motor encoder 24 and a transformer;

referring to fig. 4, a cover plate 26 is fixed on the frame through a closed groove when the aluminum alloy sections 25 are spliced, a wiring hole is formed in the center of the cover plate 26, and a controller 29 on a chassis 30 can be connected with a wire and penetrates through the wiring hole to provide support for the detachable hangar;

referring to fig. 4, a gyroscope 27 is mounted on the cover plate 26;

referring to fig. 4, the hub motor encoder 24, the controller 29, the lithium battery 28 and the charger 21 are placed on the chassis 30;

referring to fig. 4-5, the unmanned vehicle body is composed of a chassis 30, 6 in-wheel motors 10, a barrier crossing plate 11, an independent suspension 12, a frame formed by splicing aluminum alloy sections 25, and a cover plate 26.

The aluminum alloy profile 25 has grooves on all four sides to enable fastener connection, and two profiles perpendicular to each other can be fixed by right-angle intermediate members in the connection manner shown in fig. 7 during assembly. After tapping the central hole in the end face of the aluminum alloy section 25, a screw can be connected, and as shown in fig. 4, the frame is combined with the chassis 30 in a screw connection mode;

referring to fig. 5, independent suspension 12 is comprised of a shock rod 1202 and two cross rods 1203. The shock absorbing rods 1202 are hinged to the frame via hinges 1201, and the cross-bar 1203 is hinged to the chassis 30 via hinges 1201. Each rod of the independent suspension is hinged to the inner side of the hub 10;

referring to fig. 4, the shaft ends of the middle rear hub motors 10 on each side are constrained on the same horizontal plane by the obstacle crossing plate 11 through shaft-groove, the centers of the obstacle crossing plates 11 are hinged on the body of the unmanned vehicle, and the central shafts of the middle rear hub motors move in opposite vertical directions when crossing obstacles;

referring to fig. 4, the front end in-wheel motor 10 is fixedly connected to the chassis 30;

referring to fig. 6, the charging system 33 of the unmanned aerial vehicle is horizontally installed below the apron and on the hangar housing 2, and the wiring of the charging system 33 passes through the cover plate 26;

referring to fig. 7, the detachable hangar is fixed on the frame by the unmanned vehicle through a fastener, a bolt is placed in a groove of the aluminum alloy section 25 at the frame end to fix or weld the intermediate piece, and a threaded hole is reserved at the bottom of the hangar end hangar shell 2 and can fix the intermediate piece through a screw and a nut;

referring to fig. 8, two sides of a cabin cover 1 of the detachable cabin are respectively connected with two curved rods 15, a lower curved rod 15 is hinged with the cabin cover 1, and an upper curved rod 15 is connected with the cabin cover 1 in a sliding manner through a groove;

referring to fig. 9, the ground station is conceivably composed of a joystick, a keypad, an emergency button, and a display screen, and the wireless communication module displays real-time images and information on the display screen through the image transmission and data transmission module according to RTSP, UDP protocols through the structured 4G/5G network. The staff transmits the instruction to the unmanned vehicle through the input end.

The unmanned vehicle control system shown in the figure receives the information of the sensor to obtain the physical information of the unmanned vehicle control system, such as positioning, environment and the like, and constructs the SLAM map. The unmanned vehicle receives the ground station instruction and makes an intelligent decision, and can control the unmanned vehicle to take off and land, charge, open and close the cabin and move on the chassis of the unmanned vehicle. Transmitting the image and the unmanned aerial vehicle information through the Sbus;

referring to fig. 10, the sensor system of the controller of the unmanned mobile hangar consists of a gyroscope, front and rear cameras, a laser radar on the hangar, and a GPS.

The control panel of the unmanned aerial vehicle mobile hangar consists of a power switch, a brake button, a reset button and a standby button. The output end of the intelligent parking system consists of a charging system, a chassis system, a cabin cover, an apron system and a display screen. The unmanned vehicle is connected with the unmanned aerial vehicle and the ground station through the wireless communication module.

In the above embodiment, unmanned aerial vehicle can provide electric power support for unmanned aerial vehicle as a part of ground auxiliary system, utilizes the algorithm of edge calculation to construct information processing module under 4G/5G wireless communication module's effect, feeds back problem and state to ground command system, can significantly reduce unmanned aerial vehicle system's the operation degree of difficulty. Secondly, unmanned vehicle can help unmanned aerial vehicle to arrive the scene fast after user side planning route as unmanned aerial vehicle's carrier, has enlarged unmanned aerial vehicle work area's scope, and a plurality of unmanned aerial vehicle + unmanned vehicle system can be controlled to the ground satellite station, effective reduce cost.

The locomotive-vehicle linkage system in the above embodiment, different from the traditional form of directly interacting with a fixed ground station, will:

1. acquisition module, transmission module, information processing module and information feedback display module from unmanned aerial vehicle to ground station/client side

2. Motion control module, cover opening and closing, charging system and parking apron system from ground station/client to unmanned aerial vehicle

3. Unmanned aerial vehicle self sensor system and wireless communication module

The information collected by the unmanned aerial vehicle can be directly and remotely fed back to the ground station/client through analysis on the unmanned aerial vehicle and can be intelligently decided, namely, the unmanned aerial vehicle can independently realize the machine-vehicle linkage during unmanned operation.

Therefore, the line patrol cost can be greatly reduced, the information transmission distance is shortened, the information collection efficiency is improved, and the requirement on the effective coverage range of the line patrol communication base station is reduced.

From this, unmanned aerial vehicle removes hangar in the above-mentioned embodiment has following function and advantage:

1. effectively solve unmanned aerial vehicle continuation of the journey short, the limited scheduling problem of patrol scope, unmanned vehicle installs additional can promote unmanned aerial vehicle's working range, subtracts province energy consumption.

2. The ground information and the sky information can be acquired simultaneously, and the basis of ground station personnel for object judgment is improved.

3. The mobile control console can save the time for arranging on the ground, reduce the cost and improve the working efficiency.

4. The control communication and the monitoring communication of the mobile control console among the unmanned aerial vehicles are realized through a 4G/5G network, and the control range of the control console of the unmanned aerial vehicles is greatly expanded; meanwhile, the image transmission module processes aerial photography information, the data transmission module processes state information, point-to-point data/image real-time transmission is carried out, and stability in the data and image receiving process in remote control is guaranteed.

It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can also be combined appropriately to form other embodiments understood by those skilled in the art.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention and is not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention are included in the scope of the present invention.

Claims

1. An unmanned vehicle chassis system is characterized by comprising a chassis, a hub motor system and an independent suspension system;

2. The drone vehicle chassis system of claim 1, wherein the independent suspension is a wishbone suspension that includes a shock rod and a crossbar mechanism; the bottom end of the shock absorption rod is hinged to one side, close to the chassis, of the first rear hub motor and the second rear hub motor, and the top end of the shock absorption rod is hinged to a frame of the unmanned vehicle; the first end of the cross rod mechanism is hinged to one side, close to the chassis, of the first rear hub motor and the second rear hub motor, and the second end of the cross rod mechanism is hinged to the chassis.

3. The unmanned vehicle chassis system of claim 2, further comprising a crossing plate, wherein one end of the crossing plate is rotatably connected with a central shaft of the first rear hub motor, the other end of the crossing plate is rotatably connected with a central shaft of the second rear hub motor, and the middle part of the crossing plate is hinged to the chassis through a hinge.

4. The unmanned vehicle chassis system of claim 3, wherein the front hub motor mechanism comprises two front hub motors symmetrically distributed about the chassis, the front hub motors being fixedly connected to the chassis.

5. The unmanned aerial vehicle chassis system of claim 4, further comprising a hinged support, wherein a top end of the shock absorbing rod is hinged to a frame of the unmanned aerial vehicle through the hinged support, and a second end of the cross rod mechanism is hinged to the chassis through the hinged support.

6. An unmanned aerial vehicle mobile hangar is characterized by comprising an unmanned vehicle body and a hangar, wherein the hangar is arranged on the unmanned vehicle body; the unmanned vehicle body comprises the unmanned vehicle chassis system of any one of claims 1-5.

7. The unmanned aerial vehicle mobile hangar of claim 6, wherein the unmanned vehicle body further comprises an unmanned vehicle control system, the unmanned vehicle control system comprises a motor encoder and a signal control line, the motor encoder is arranged at the front end of the chassis and is in signal connection with all hub motors through the signal control line.

8. The unmanned aerial vehicle mobile hangar of claim 7, wherein the unmanned vehicle body further comprises an electrical system, the electrical system comprises lithium batteries and in-wheel motor power transmission lines, and all in-wheel motors are electrically connected with the lithium batteries through the in-wheel motor power transmission lines, respectively.

9. The unmanned mobile hangar of claim 8, wherein the power system further comprises transformers, and all of the in-wheel motors are respectively connected to the lithium batteries through the transformers.

10. The unmanned mobile hangar of claim 9, wherein the unmanned vehicle control system further comprises a central controller disposed in an interlayer of the unmanned vehicle body; the central controller is in signal connection with the motor encoder and is used for transmitting the control signal of the hub motor.