CN218506156U - Full-automatic unattended airport - Google Patents
Full-automatic unattended airport Download PDFInfo
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- CN218506156U CN218506156U CN202222915846.0U CN202222915846U CN218506156U CN 218506156 U CN218506156 U CN 218506156U CN 202222915846 U CN202222915846 U CN 202222915846U CN 218506156 U CN218506156 U CN 218506156U
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The utility model relates to an unmanned air vehicle technique field, in particular to full-automatic unmanned on duty airport device. The unmanned aerial vehicle airport comprises an unmanned aerial vehicle airport body, and an industrial personal computer, an environment detection system and a charging system which are arranged in the unmanned aerial vehicle airport body, wherein the unmanned aerial vehicle airport body comprises a cabin, a cabin door mechanism which is arranged at the top of the cabin and can be opened and closed, and a lifting positioning platform which is arranged in the cabin; the environment detection system is used for detecting environment parameters inside the engine room; the charging system is used for completing the charging of the unmanned aerial vehicle; the industrial personal computer is used for controlling the cabin door mechanism, the lifting positioning platform, the charging system and the environment monitoring system, and is communicated with the remote control center to realize remote control. The utility model discloses can trade the electricity and provide simple maintenance for unmanned aerial vehicle automatically, can carry out real time monitoring and update through remote control center simultaneously, effectively improve the automatic efficiency of trading the electricity of unmanned aerial vehicle, increase unmanned aerial vehicle field work time, reach the ability that improves unmanned aerial vehicle field work.
Description
Technical Field
The utility model relates to an unmanned air vehicle technique field, in particular to full-automatic unmanned on duty airport.
Background
In recent years, with the development of 5G communication technology, GPS positioning system and automatic control technology, many rotor unmanned aerial vehicles develop rapidly. Compare in fixed wing unmanned aerial vehicle, many rotor unmanned aerial vehicle receive people's extensive attention with its mobility and flexibility. The system is widely applied to occasions requiring long-time unmanned inspection, such as ecological environment monitoring, forest fire early warning prevention and control, high-voltage transmission line safety detection and the like. Along with the improvement of cost of labor, an intelligent unmanned aerial vehicle airport system who has information interaction, environmental monitoring function is indispensable.
Through investigation, the current unmanned aerial vehicle airport system mainly adopts controllers such as singlechip to control. This is to the large-scale photovoltaic farm that needs many unmanned aerial vehicles collaborative work and need carry out a large amount of visual information processing, and the efficiency that unmanned aerial vehicle charges and the stability at unmanned aerial vehicle airport are difficult to guarantee. The industrial personal computer is used as the controller, so that the visual information can be processed in time, and the internal state information of the cabin can be processed efficiently. The system can improve unmanned aerial vehicle and trade electric efficiency, strengthens airport system's robustness, can also greatly make things convenient for the later maintenance of equipment simultaneously. Therefore, there is a need for improvements in the prior art.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art, the utility model aims to provide a full-automatic unmanned on duty airport to solve current unmanned airport too complicated, information interaction ability weak, work efficiency low scheduling problem.
In order to realize the purpose, the utility model adopts the following technical scheme:
the utility model provides a pair of full-automatic unmanned on duty airport, include:
the unmanned aerial vehicle airport body comprises a cabin, an openable cabin door mechanism arranged on the top of the cabin and a lifting positioning platform arranged in the cabin;
the environment detection system is arranged in the engine room and used for detecting environmental parameters inside the engine room;
the charging system is arranged in the cabin and used for completing the charging of the unmanned aerial vehicle;
and the industrial personal computer is used for controlling the cabin door mechanism, the lifting positioning platform, the charging system and the environment monitoring system, and is communicated with the remote control center to realize remote control.
The remote control center is connected with a ground base station closest to the full-automatic unattended airport through optical fibers; and the ground base station performs information interaction with a communication module on the industrial personal computer in a 5G communication mode, and performs online modification on airport control parameters through a U I interface of a remote control center.
The environment detection system comprises a temperature regulation system and a humidity regulation system;
the temperature adjusting system comprises a temperature sensor and an electric fan, wherein the temperature sensor is used for detecting and outputting temperature information in the cabin; the industrial personal computer controls the electric fan according to temperature information detected by the temperature sensor so as to adjust the temperature in the engine room;
the humidity adjusting system comprises a humidity sensor and a heating rod, wherein the humidity sensor is used for detecting and outputting humidity information in the cabin; the industrial personal computer controls the heating rod according to humidity information detected by the humidity sensor so as to adjust the humidity in the cabin.
The charging system comprises a binocular camera, a mechanical arm and a charging device, wherein the charging device is used for charging the unmanned aerial vehicle; the mechanical arm is controlled by the industrial personal computer and is used for completing battery replacement and charging procedures; the binocular camera is used for obtaining information of a battery on the unmanned aerial vehicle body and the battery in the charging device and outputting the information.
The cabin door mechanism comprises a front cabin door, a front cabin door driving mechanism, a rear cabin door and a rear cabin door driving mechanism, wherein the front cabin door and the rear cabin door are arranged on the front side and the rear side of the top of the cabin in a sliding manner, the front cabin door driving mechanism and the rear cabin door driving mechanism are arranged on the top of the cabin and are respectively connected with the front cabin door and the rear cabin door, and the front cabin door driving mechanism and the rear cabin door driving mechanism can respectively drive the front cabin door and the rear cabin door to be opened or closed.
The front cabin door driving mechanism comprises a connecting rod I, a screw rod sliding table assembly I and a connecting rod II, wherein the connecting rod I and the connecting rod II are arranged at the top of the cabin along the left-right direction;
the rear cabin door driving mechanism comprises a connecting rod III, a screw rod sliding table assembly II and a connecting rod IV, wherein the connecting rod III and the connecting rod IV are arranged at the top of the cabin along the left-right direction, and the screw rod sliding table assembly II is arranged on the connecting rod III and the connecting rod IV and outputs power along the front-back direction; and the rear cabin door is connected with the output end of the screw rod sliding table assembly II.
The lifting positioning platform comprises a left lifting driving mechanism, a right lifting driving mechanism, a lifting platform and a fixture device, wherein the left lifting driving mechanism and the right lifting driving mechanism are arranged on the left side and the right side of the inner wall of the cabin, the output end of the left lifting driving mechanism and the output end of the right lifting driving mechanism are connected with the lifting platform, and the fixture device is arranged at the top of the lifting platform and used for positioning the unmanned aerial vehicle.
The clamping device comprises a clamping device a, a clamping device b, a clamping device c and a clamping device d which are uniformly distributed along the circumferential direction;
the fixture device a, the fixture device b, the fixture device c and the fixture device d are identical in structure and respectively comprise a lead screw sliding table assembly and positioning rods arranged at the output end of the lead screw sliding table assembly, and the four positioning rods form a direction positioning frame.
The left lifting driving mechanism comprises a vertically arranged lead screw sliding table assembly III and a metal sheet m connected with the output end of the lead screw sliding table assembly III;
the right lifting driving mechanism comprises a vertically arranged lead screw sliding table assembly IV and a metal sheet n connected with the output end of the lead screw sliding table assembly IV;
the metal sheet m and the metal sheet n are connected with the left side and the right side of the lifting platform.
The cabin door mechanism, the lifting platform and the clamp device are all provided with limit switches, and the limit switches can obtain and output state information of the cabin door mechanism, the lifting platform and the clamp device.
The utility model has the advantages and beneficial effects that: the utility model provides high unmanned airport's intelligent and remote operation ability reach and deploy fast, improve the purpose of regional operation ability.
The utility model provides an intelligent unmanned aerial vehicle airport control system can be used to parking of unmanned aerial vehicle, charge, data interchange etc. Airport control system highly integrates, and the wiring is simple, can in time maintain according to airport internal and external environment and unmanned aerial vehicle's state, and the complete automatic operation of whole process has improved the uniformity and the stability of unmanned aerial vehicle operating efficiency and data, has reduced system maintenance cost and artificial intervention's uncertainty, realizes unmanned aerial vehicle autonomous operation under the completely unmanned condition.
Drawings
FIG. 1 is an isometric view of a fully automatic unattended airport of the present invention;
FIG. 2 is a block diagram of a control system of the fully automatic unattended airport of the present invention;
FIG. 3 is a front view of the fully automatic unattended airport of the present invention;
FIG. 4 is a left side view of FIG. 3;
fig. 5 is a schematic structural view of the left lifting driving mechanism of the present invention;
FIG. 6 is a top view of FIG. 3;
fig. 7 is a schematic structural view of the middle clamping device of the present invention;
fig. 8 is a control flow block diagram of the fully automatic unattended airport of the present invention;
in the figure: 1 is preceding hatch door, 2 is connecting rod I, 3 is lead screw slip table subassembly I, 4 is connecting rod II, 5 is lift platform, 6 is lead screw slip table subassembly II, 7 is connecting rod III, 8 is lead screw slip table subassembly III, 9 is connecting rod IV, 10 is the back hatch door, 11 is the cabin, 12 is fixture device, 121 is fixture device an, 1211 is lead screw slip table subassembly V, 1212 is locating lever I, 122 is fixture device b,1221 is lead screw slip table subassembly VI, 1222 is locating lever II, 123 is fixture device c,1231 is lead screw slip table subassembly VII, 1232 is locating lever III, 124 is fixture device d,1241 is lead screw slip table subassembly VIII, 1242 is locating lever VI, 13 is lead screw slip table subassembly IV, 14 is sheetmetal m,15 is sheetmetal n.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 and fig. 2, the utility model provides a full-automatic unmanned airport, which comprises an unmanned airport body, an industrial personal computer, an environment detection system and a charging system, wherein the industrial personal computer, the environment detection system and the charging system are arranged in the unmanned airport body, the unmanned airport body comprises a cabin 11, a cabin door mechanism which is arranged at the top of the cabin 11 and can be opened and closed, and a lifting positioning platform which is arranged inside the cabin 11; the environment detection system is used for detecting environmental parameters inside the cabin 11; the charging system is used for completing the charging of the unmanned aerial vehicle; the industrial personal computer is used for controlling the cabin door mechanism, the lifting positioning platform, the charging system and the environment monitoring system, and is communicated with the remote control center to realize remote control.
In the embodiment of the utility model, the remote control center is connected with the ground base station nearest to the full-automatic unattended airport through optical fiber; and the ground base station performs information interaction with a communication module on the industrial personal computer in a 5G communication mode, and performs online modification on airport control parameters through a U I interface of the remote control center.
In the embodiment of the utility model, the environment detection system comprises a temperature regulation system and a humidity regulation system; the temperature adjusting system comprises a temperature sensor and an electric fan, wherein the temperature sensor is used for detecting and outputting temperature information in the cabin 11; the industrial personal computer controls the electric fan according to the temperature information detected by the temperature sensor so as to adjust the temperature in the cabin 11. The humidity adjusting system comprises a humidity sensor and a heating rod, wherein the humidity sensor is used for detecting and outputting humidity information in the cabin 11; the industrial personal computer controls the heating rod according to the humidity information detected by the humidity sensor so as to adjust the humidity in the cabin 11. Meanwhile, an alarm device is also arranged, and when the temperature and the humidity in the cabin 11 are abnormal, signals are transmitted to the industrial personal computer in time and alarm prompt tones are sent out.
In the embodiment of the utility model, the charging system comprises a binocular camera, an mechanical arm and a charging device, wherein the charging device is used for charging the unmanned aerial vehicle; the mechanical arm is controlled by an industrial personal computer and is used for completing battery replacement and charging procedures; the binocular camera is used for obtaining information of a battery on the unmanned aerial vehicle body and the battery in the charging device and outputting the information.
As shown in fig. 1 to 6, in the embodiment of the present invention, the door mechanism includes a front door 1, a front door driving mechanism, a rear door 10 and a rear door driving mechanism, wherein the front door 1 and the rear door 10 are slidably disposed at the front and rear sides of the top of the cabin 11, the front door driving mechanism and the rear door driving mechanism are disposed at the top of the cabin 11 and are respectively connected to the front door 1 and the rear door 10, and the front door driving mechanism and the rear door driving mechanism can respectively drive the front door 1 and the rear door 10 to open or close.
As shown in fig. 1 and 6, in the embodiment of the present invention, the front cabin door driving mechanism includes a connecting rod i 2, a screw sliding table assembly i 3 and a connecting rod ii 4, wherein the connecting rod i 2 and the connecting rod ii 4 are disposed at the top of the cabin 11 along the left-right direction, and the screw sliding table assembly i 3 is mounted on the connecting rod i 2 and the connecting rod ii 4, and outputs power along the front-back direction. The middle part of the front cabin door 1 is connected with the output end of the screw rod sliding table assembly I3, and the left side and the right side of the front cabin door 1 are respectively connected with the top of the cabin 11 in a sliding mode. The rear cabin door driving mechanism comprises a connecting rod III 7, a screw rod sliding table assembly II 6 and a connecting rod IV 9, wherein the connecting rod III 7 and the connecting rod IV 9 are arranged at the top of the cabin 11 along the left-right direction, and the screw rod sliding table assembly II 6 is arranged on the connecting rod III 7 and the connecting rod IV 9 and outputs power along the front-back direction; the middle part of the rear cabin door 10 is connected with the output end of the screw rod sliding table assembly II 6, and the left side and the right side of the rear cabin door 10 are connected with the top of the cabin 11 in a sliding mode. The screw rod sliding table assembly I3 and the screw rod sliding table assembly II 6 respectively drive the front cabin door 1 and the rear cabin door 10 to be opened or closed synchronously.
Specifically, sliding grooves are reserved at the joints of the front cabin door 1 and the rear cabin door 10 and the cabin 11 for the movement of pulleys on the cabin doors.
As shown in fig. 3 to 5, in the embodiment of the utility model, lift location platform includes left lift actuating mechanism, right lift actuating mechanism, lift platform 5 and fixture device 12, wherein left lift actuating mechanism and right lift actuating mechanism set up in the inside left and right sides of cabin 11, and the output all is connected with lift platform 5, and fixture device 12 sets up in lift platform 5's top for fix a position unmanned aerial vehicle.
In the embodiment of the utility model, the left lifting driving mechanism comprises a vertically arranged screw rod sliding table component III 8 and a metal sheet m14 connected with the output end of the screw rod sliding table component III 8; the right lifting driving mechanism comprises a vertically arranged lead screw sliding table assembly IV 13 and a metal sheet n15 connected with the output end of the lead screw sliding table assembly IV 13; the metal sheet m14 and the metal sheet n15 are connected to the left and right sides of the elevating platform 5. The screw rod sliding table assembly IV 13 and the screw rod sliding table assembly IV 13 synchronously drive the lifting platform 5 to perform lifting action. After the system confirms that the cabin door is completely opened, the screw rod sliding table assembly III 8 and the screw rod sliding table assembly IV 13 move the lifting platform 5 to the topmost end, and meanwhile, state information is sent to the system.
In this embodiment, the lifting platform 5 has a square structure, the side length of the lifting platform is consistent with the internal width of the cabin 11, and the whole lifting platform 5 is driven by two lead screw sliding table assemblies. Specifically, the left side of cabin 11 links firmly connecting rod V and the connecting rod VI of laying horizontally, and connecting rod V and connecting rod VI set up the interval from top to bottom, and lead screw slip table subassembly III 8 sets firmly on connecting rod V and connecting rod VI. The right side of cabin 11 links firmly connecting rod VII and the connecting rod VIII of laying horizontally, and connecting rod VII and connecting rod VIII interval set up from top to bottom, and lead screw slip table subassembly IV 13 sets firmly on connecting rod VII and connecting rod VIII, and lead screw slip table subassembly III 8 and lead screw slip table subassembly IV 13 synchronous motion drive lift platform 5 at same horizontal plane motion.
As shown in fig. 7, in the embodiment of the present invention, the clamping device 12 includes a clamping device a121, a clamping device b122, a clamping device c123 and a clamping device d124 that are uniformly distributed along the circumferential direction; the fixture device a121, the fixture device b122, the fixture device c123 and the fixture device d124 are identical in structure and respectively comprise a lead screw sliding table assembly and positioning rods arranged at the output end of the lead screw sliding table assembly, and the four positioning rods form a direction positioning framework.
Specifically, the clamping device a121 and the clamping device d124 are symmetrically arranged along the front-back direction, the clamping device a121 comprises a lead screw sliding table assembly V1211 and a positioning rod I1212 arranged at the output end of the lead screw sliding table assembly V1211, and the positioning rod I1212 is arranged along the left-right direction; the fixture device d124 comprises a lead screw sliding table assembly VIII 1241 and a positioning rod VI 1242 arranged at the output end of the lead screw sliding table assembly VIII 1241, and the positioning rod VI 1242 is parallel to the positioning rod I1212. Lead screw slip table subassembly V1211 and lead screw slip table subassembly VIII 1241 drive locating lever I1212 and locating lever VI 1242 respectively advance line location to unmanned aerial vehicle in the front and back direction.
Fixture device b122 and fixture device c123 set up along left right direction symmetry, and fixture device b122 includes lead screw slip table subassembly VI 1221 and sets up in II 1222 of locating lever of lead screw slip table subassembly VI 1221 output, and II 1222 of locating lever set up along the fore-and-aft direction. Fixture device c123 includes lead screw slip table subassembly VII 1231 and sets up in III 1232 of locating lever of lead screw slip table subassembly VII 1231 output, and III 1232 of locating lever is parallel with locating lever II 1222. The clamp device b122 and the clamp device c123 respectively drive the positioning rod II 1222 and the positioning rod III 1232 to position the left side and the right side of the unmanned aerial vehicle. Further, the length of locating lever II 1222 and locating lever III 1232 is greater than the length of locating lever I1212 and locating lever VI 1242 to adapt to unmanned aerial vehicle's overall dimension.
During operation, after confirming that the unmanned aerial vehicle safely lands to the lifting platform 5, the clamping device a121, the clamping device b122, the clamping device c123 and the clamping device d124 respectively move to the central position according to the set distance, and the unmanned aerial vehicle is pushed to the center of the lifting platform 5. After the unmanned aerial vehicle is determined to reach the central position, the screw rod sliding table assembly IV 13 and the screw rod sliding table assembly IV 13 move reversely, so that the lifting platform 5 descends to reach the lowest point of the cabin. At this time, the front and rear hatches are closed.
The utility model discloses an in the embodiment, each lead screw slip table subassembly is prior art, constitutes by step motor and lead screw nut mechanism, and step motor's power cord all adopts the helical conductor.
Further, the cabin door mechanism, the lifting platform 5 and the fixture device 12 are all provided with limit switches, and the limit switches can obtain and output the state information of the cabin door mechanism, the lifting platform 5 and the fixture device 12. When the industrial computer receives the signal that unmanned aerial vehicle returned, whether check limit switch normally worked, normal during operation sends control command, opens front and back hatch door to send status signal to the system.
As shown in fig. 8, the utility model provides a pair of full-automatic unmanned on duty airport, its work flow is as follows:
when the industrial computer received unmanned aerial vehicle signal of returning a journey, whether limit switch on the system inspection hatch door normally worked, operating condition is normal, and the industrial computer sends control command, and hatch door 1 and back hatch door 10 before screw slip table subassembly I3 and screw slip table subassembly II 6 forward motion (outside lateral movement) are opened. After the cabin door is normally opened, the screw rod sliding table assembly III 8 and the screw rod sliding table assembly IV 13 move forwards (move upwards), and the lifting platform 5 is lifted to the top end to wait for the unmanned aerial vehicle to stop. After the unmanned aerial vehicle is safely parked, the clamp device a121, the clamp device b122, the clamp device c123 and the clamp device d124 move forwards (move towards the center), and the unmanned aerial vehicle is fixed; and then the screw rod sliding table assembly III 8 and the screw rod sliding table assembly IV 13 move reversely (move downwards), and the lifting platform 5 is restored to the bottom. At this moment, the screw rod sliding table assembly I3 and the screw rod sliding table assembly II 6 move reversely (move towards the inner side), and the front cabin door 1 and the rear cabin door 10 are closed. After the whole system is cut off from the outside, the environment adjusting system in the engine room works, the lighting device and the temperature and humidity adjusting system work, and the mechanical arm exchanges electricity. After the battery replacement is completed, the clamp device a121, the clamp device b122, the clamp device c123 and the clamp device d124 move in the reverse direction, and the unmanned aerial vehicle is loosened. The system is in standby state and waits for the next indication.
When the lifting platform 5 reaches the bottommost part, the lighting system works, the light supplement lamp is turned on, the binocular camera shoots the battery part of the unmanned aerial vehicle, the obtained image is transmitted to the ROS through the acquisition card, and the battery position on the unmanned aerial vehicle body and the battery position on the charging frame are obtained after the image is processed through a relevant algorithm. And after the electric quantity of the battery is evaluated, an optimal scheme planning mechanical arm is selected for charging and battery replacement.
The environment detection system is always in a working state, when the temperature in the cabin 11 is too high, the temperature sensor uploads an over-temperature signal to the system, and the electric fan works to timely reduce the temperature. When the humidity in the cabin 11 is too high, the humidity sensor uploads a signal to the system, and simultaneously gives an alarm to heat the heating rod until the humidity is adjusted to a normal value.
The embodiment of the utility model provides an in, charging device adopts drawer type structure, and the battery can pop out under mechanical pushing hands promotes gently, then the robotic arm presss from both sides the battery and gets. The onboard battery and the battery on the charging device are installed in a clamping shell type, and the battery is popped up by clicking, so that the structure is simple, and the operation is convenient. The power supply of the charging device comes from the cabin system, and the consumption state of the electric quantity is monitored by the system. Furthermore, a lightning arrester is arranged on the outer side of the engine room to avoid and protect thunderstorm weather hazards.
The industrial personal computer is connected with the ground station device through a type-C and used for receiving flight data of the unmanned aerial vehicle in the flight process and completing initialization, follow-up maintenance and other operations of the airport system. The industrial computer is connected with the cabin door driving mechanism, the lifting driving mechanism and the clamp device through the RS-232 communication module, flow operations such as airport door opening and closing, unmanned aerial vehicle fixing and automatic charging are achieved, sufficient electric quantity during circulation operation is ensured, and meanwhile the industrial computer has the functions of automatic dormancy and awakening of the unmanned aerial vehicle. The industrial personal computer controls the environment detection system through PWM to adjust the temperature and the humidity in the cabin 11. Meanwhile, whether the unmanned aerial vehicle is opened or not is determined according to the external environment condition, so that the aim of protecting the hardware of the unmanned aerial vehicle is fulfilled.
Further, the ground station device is used for receiving unmanned aerial vehicle task information distributed by the ground base station, is connected with the unmanned aerial vehicle in a wireless communication mode, controls the unmanned aerial vehicle to complete corresponding tasks according to task requirements, acquires unmanned aerial vehicle state information and unmanned aerial vehicle task execution data, and guides the unmanned aerial vehicle when the unmanned aerial vehicle stops. The unmanned aerial vehicle airport equipment is used for taking off, landing and charging the unmanned aerial vehicle; the power supply device provides a stable power supply for the controller, the unmanned aerial vehicle charging device and the environment adjusting device. The environment detection system in the cabin comprises a temperature sensor, a humidity sensor, a lighting device, a corresponding adjusting device and an abnormity warning device, and the devices are used for monitoring the cabin environment and providing reference for the unmanned aerial vehicle battery replacement. The external monitoring device collects data objects which comprise an environmental data acquisition instrument, a louver box and a wind direction and wind speed sensor, and the data are used for judging whether the external environment is suitable for takeoff operation of the unmanned aerial vehicle.
The embodiment of the utility model provides an in, airport body control system includes information acquisition and processing system, arm control system, hatch door and elevating platform control system, anchor clamps control system, temperature and humidity control system, and the required software of these several systems and application all install on the industrial computer. Specifically, the software comprises an ROS, a graphical information display platform, a binocular camera visual display window, an environment display window and the like. The industrial personal computer can complete the collection and processing of the unmanned airport state information through the information collection and processing system, and can interact with the remote control center to realize remote control. The remote control center can communicate with the unmanned aerial vehicle airport body in real time. Wherein, remote control center passes through optic fibre and is connected with the nearest ground basic station in distance unmanned aerial vehicle airport. And the ground base station performs information interaction with a communication module on the industrial personal computer in a 5G communication mode, and can perform online modification on airport control parameters through a U I interface of a remote control center. Meanwhile, the remote control center can carry out remote system upgrade on the airport.
The concrete mode is as follows: the industrial personal computer sends information to be uploaded to a ground station outside the engine room, a ground station signal transmitter sends the information to an adjacent ground base station in a 5G communication mode, and the ground base station sends the information to be transmitted to a base station near a remote control center through optical fibers to complete information interaction. The airport system can complete information acquisition and processing, mechanical arm control, environment regulation, cabin door and lifting platform control, and control instruction control modes are uniformly distributed by an industrial personal computer.
Specifically, the information acquisition and processing system set is a database in an industrial personal computer system and is connected with the ground station, the limit switch, the binocular camera and the temperature and humidity sensor. The ground station can receive the return signal of the unmanned aerial vehicle and the external environment information of the unmanned aerial vehicle; the limit switch can obtain the state information of the cabin door and the lifting platform, the state information of the clamp and the like; the binocular camera obtains information of a battery on the body of the unmanned aerial vehicle and a battery in the charging device; the temperature and humidity sensor can obtain the temperature and humidity information in the engine room; meanwhile, a charging device connected with the industrial personal computer can obtain the health condition information of the battery of the unmanned aerial vehicle and the state information of the charging device; the mechanical arm device connected with the industrial personal computer can complete the battery replacement and charging processes. The industrial personal computer can intensively and uniformly manage the information, control the corresponding system and synchronize the obtained information with the ground base station.
In this embodiment, the mechanical arm has four degrees of freedom, and the binocular camera is used for calibrating the battery, including information such as the type and position of the battery. And the mechanical arm operating system is an ROS, and can complete feature recognition and trajectory planning. Meanwhile, the mechanical arm can reasonably arrange the charging sequence of the batteries according to the residual electric quantity of the batteries so as to improve the operation efficiency of the airport to the maximum extent.
The utility model provides a pair of full-automatic unmanned on duty airport can trade the electricity and provide simple maintenance for unmanned aerial vehicle automatically, can carry out real time monitoring and update through remote control center simultaneously, has effectively improved the automatic efficiency that trades the electricity of ability and unmanned aerial vehicle that unmanned aerial vehicle accurately descends, has increased unmanned aerial vehicle field operation time, has reached the ability that improves unmanned aerial vehicle field operation.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (10)
1. A fully automatic unattended airport, comprising:
the unmanned aerial vehicle airport body comprises a cabin (11), a cabin door mechanism which is arranged on the top of the cabin (11) and can be opened and closed, and a lifting positioning platform which is arranged inside the cabin (11);
the environment detection system is arranged in the cabin (11) and is used for detecting environmental parameters inside the cabin (11);
the charging system is arranged in the cabin (11) and used for completing the charging of the unmanned aerial vehicle;
and the industrial personal computer is used for controlling the cabin door mechanism, the lifting positioning platform, the charging system and the environment monitoring system, and is communicated with the remote control center to realize remote control.
2. The fully automated unmanned airport of claim 1, wherein the remote control center is connected to a ground base station nearest to the fully automated unmanned airport via optical fiber; and the ground base station performs information interaction with a communication module on the industrial personal computer in a 5G communication mode, and performs online modification on airport control parameters through a U I interface of a remote control center.
3. The fully automated unmanned airport of claim 1, wherein the environmental detection system comprises a temperature regulation system and a humidity regulation system;
the temperature adjusting system comprises a temperature sensor and an electric fan, wherein the temperature sensor is used for detecting and outputting temperature information in the cabin (11); the industrial personal computer controls the electric fan according to temperature information detected by the temperature sensor so as to adjust the temperature in the engine room (11);
the humidity adjusting system comprises a humidity sensor and a heating rod, wherein the humidity sensor is used for detecting and outputting humidity information in the cabin (11); the industrial personal computer controls the heating rod according to humidity information detected by the humidity sensor so as to adjust the humidity in the engine room (11).
4. The fully automated unmanned airport of claim 1, wherein the charging system comprises a binocular camera, a robotic arm, and a charging device, wherein the charging device is configured to charge the unmanned aerial vehicle; the mechanical arm is controlled by the industrial personal computer and is used for completing battery replacement and charging processes; the binocular camera is used for obtaining the information and the output of battery and charging device battery on the unmanned aerial vehicle fuselage.
5. The fully automatic unattended airport according to claim 1, wherein the hatch mechanism comprises a front hatch (1), a front hatch driving mechanism, a rear hatch (10) and a rear hatch driving mechanism, wherein the front hatch (1) and the rear hatch (10) are slidably disposed at front and rear sides of the top of the cabin (11), the front hatch driving mechanism and the rear hatch driving mechanism are disposed at the top of the cabin (11) and are respectively connected with the front hatch (1) and the rear hatch (10), and the front hatch driving mechanism and the rear hatch driving mechanism can respectively drive the front hatch (1) and the rear hatch (10) to be opened or closed.
6. The full-automatic unattended airport according to claim 5, wherein the front hatch driving mechanism comprises a connecting rod I (2), a lead screw sliding table assembly I (3) and a connecting rod II (4), wherein the connecting rod I (2) and the connecting rod II (4) are arranged at the top of the cabin (11) along the left-right direction, the lead screw sliding table assembly I (3) is installed on the connecting rod I (2) and the connecting rod II (4) and outputs power along the front-back direction, and the front hatch (1) is connected with the output end of the lead screw sliding table assembly I (3);
the rear cabin door driving mechanism comprises a connecting rod III (7), a screw rod sliding table assembly II (6) and a connecting rod IV (9), wherein the connecting rod III (7) and the connecting rod IV (9) are arranged at the top of the cabin (11) along the left-right direction, and the screw rod sliding table assembly II (6) is arranged on the connecting rod III (7) and the connecting rod IV (9) and outputs power along the front-back direction; and the rear cabin door (10) is connected with the output end of the screw rod sliding table assembly II (6).
7. The fully automatic unmanned airport according to claim 1, wherein the elevating positioning platform comprises a left elevating driving mechanism, a right elevating driving mechanism, an elevating platform (5) and a fixture device (12), wherein the left elevating driving mechanism and the right elevating driving mechanism are arranged on the left and right sides of the inner wall of the cabin (11), the output ends of the left elevating driving mechanism and the right elevating driving mechanism are connected with the elevating platform (5), and the fixture device (12) is arranged on the top of the elevating platform (5) for positioning the unmanned aerial vehicle.
8. The fully automated unmanned airport of claim 7, wherein said clamp device (12) comprises circumferentially equispaced clamp devices a (121), b (122), c (123), and d (124);
the fixture device a (121), the fixture device b (122), the fixture device c (123) and the fixture device d (124) are identical in structure and respectively comprise a lead screw sliding table assembly and positioning rods arranged at the output end of the lead screw sliding table assembly, and the four positioning rods form a direction positioning frame.
9. The fully automatic unattended airport according to claim 7, wherein the left lifting drive mechanism comprises a vertically arranged lead screw sliding table assembly III (8) and a metal sheet m (14) connected with an output end of the lead screw sliding table assembly III (8);
the right lifting driving mechanism comprises a vertically arranged lead screw sliding table assembly IV (13) and a metal sheet n (15) connected with the output end of the lead screw sliding table assembly IV (13);
the metal sheet m (14) and the metal sheet n (15) are connected with the left side and the right side of the lifting platform (5).
10. The fully automatic unmanned airport according to claim 7, wherein the hatch mechanism, the lifting platform (5) and the clamping device (12) are provided with limit switches, and the limit switches can obtain and output status information of the hatch mechanism, the lifting platform (5) and the clamping device (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222915846.0U CN218506156U (en) | 2022-10-31 | 2022-10-31 | Full-automatic unattended airport |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222915846.0U CN218506156U (en) | 2022-10-31 | 2022-10-31 | Full-automatic unattended airport |
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| Publication Number | Publication Date |
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| CN218506156U true CN218506156U (en) | 2023-02-21 |
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| CN202222915846.0U Active CN218506156U (en) | 2022-10-31 | 2022-10-31 | Full-automatic unattended airport |
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| CN (1) | CN218506156U (en) |
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