WO2021068576A1 - 基于太阳能供电的无人机自主起降换电池的能源自治基站 - Google Patents

基于太阳能供电的无人机自主起降换电池的能源自治基站 Download PDF

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Publication number
WO2021068576A1
WO2021068576A1 PCT/CN2020/100688 CN2020100688W WO2021068576A1 WO 2021068576 A1 WO2021068576 A1 WO 2021068576A1 CN 2020100688 W CN2020100688 W CN 2020100688W WO 2021068576 A1 WO2021068576 A1 WO 2021068576A1
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Prior art keywords
battery
drone
lifting platform
solar panel
base station
Prior art date
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PCT/CN2020/100688
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English (en)
French (fr)
Inventor
齐咏生
陈安宇
李永亭
刘利强
张松松
Original Assignee
内蒙古工业大学
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Publication date
Application filed by 内蒙古工业大学 filed Critical 内蒙古工业大学
Priority to US18/015,321 priority Critical patent/US20240228077A1/en
Publication of WO2021068576A1 publication Critical patent/WO2021068576A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/39—Battery swapping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/51—Photovoltaic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/97—Means for guiding the UAV to a specific location on the platform, e.g. platform structures preventing landing off-centre
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

Definitions

  • the invention relates to an energy autonomous base station for autonomous take-off and landing of unmanned aerial vehicles based on solar power and battery replacement, and belongs to the technical field of unmanned aerial vehicle control.
  • the UAV can be equipped with modules such as image transmission, data transmission, GPS navigation system, ultrasonic monitoring device, etc. Therefore, the UAV can meet most of the current application requirements.
  • the battery capacity that the rotary wing drone can carry is limited.
  • Existing drones generally last about 30 minutes. Due to the short time, it is necessary for staff to grasp the time and constantly replace the battery during the working process of the drone.
  • the present invention is a base station for automatic take-off and landing of unmanned aerial vehicles based on mechanical transmission technology and advanced control theory for energy autonomy and battery replacement. It mainly solves the following problems:
  • the base station for the automatic take-off and landing of drones needs to be placed outdoors or even in some remote areas, (the power inspection in grassland areas, the base station can be made into a relay inspection base station)
  • the base station requires a relatively high degree of automation, which is low
  • the failure rate and lower maintenance cost. Therefore, the design of the base station is based on simplicity and practicality.
  • the energy required for the entire base station is provided by solar energy, which is more environmentally friendly and will not affect the environment.
  • a device Due to the large deviation of the drone's position after landing, a device is designed to adjust the position of the drone after it has landed, so that the subsequent automatic battery replacement of the drone can proceed smoothly.
  • the present invention adopts mechanical claws to replace the battery, which allows the drone to land at a specified location at a fixed point, and by replacing the battery, sufficient power can be obtained again in a short time to ensure the high endurance of the drone during the completion of the mission.
  • drones can complete tasks without human participation, and have a high level of automation and intelligence.
  • the UAV has simple structure, low cost, vertical take-off and landing, good maneuverability, strong environmental adaptability, and can carry a variety of equipment to complete corresponding tasks, so its application in the civilian field is gradually expanding.
  • intelligent technology microelectronics technology, digital communication technology, sensor technology and virtual reality technology
  • some problems that originally existed on the road of technological development have gradually been overcome, and the development of the UAV business is booming.
  • the endurance of UAVs has always limited its flight distance and development space.
  • the present invention provides an energy autonomous base station design for the UAV to automatically take off and land and replace the battery, so as to solve the problem of insufficient battery life of the UAV.
  • UAV base station a similar patent is 2017306861263, named UAV base station.
  • the invention is a single-piece cover that opens and closes horizontally, and there is a lifting platform inside, which can complete the take-off, landing and recovery of the drone, but it cannot adjust its position after the drone has landed. If there is a large deviation in the landing position of the drone, the drone may be damaged when the platform is lowered.
  • the base station has a single function and requires external energy supply.
  • the existing technologies have relatively single functions in base station design, and they cannot independently supply energy, so that it is difficult to deploy in some remote areas. Moreover, the task of automatic battery replacement of drones cannot be completed safely and stably, and the battery life problem of drones cannot be solved conveniently and quickly.
  • the present invention adopts new ideas, so that the entire working process is more concise and the overall system is more stable. This can ensure that the drone completes the battery replacement task under no one's control.
  • the base station in the present invention is designed as an energy autonomous base station that can be used for taking off and landing of the drone and automatically changing the battery;
  • the structure of the above-mentioned invention is relatively complicated, and the UAV needs to be specially modified. Moreover, there will be a certain deviation when the drone is landing.
  • the invention designs a lifting platform in which an electric push rod pushes a rotatable ring, which has a simple structure and good stability. And when the drone lands on the ring, while the ring rotates, the electric baffle slowly approaches the ring, so that the drone is at the predetermined position of the ring, avoiding the deviation zone due to the position of the drone. Safety hazards, and provide conditions for automatic battery replacement in the future; finally, in terms of automatic battery replacement, the mechanical structure of the above-mentioned invention is more complicated. Therefore, the invention adopts an electric gripper that only moves on a plane.
  • the lifting platform is lowered to a certain height to separate the battery from the UAV. Then, the gripper moves to just above the battery box, the battery box is raised, the gripper is released, the battery enters the box, and then the battery box is lowered to a certain height, after the gripper moves to the position of the new battery in the battery box, the battery box rises again , The gripper grabs the new battery and moves it to the top of the drone. The lifting platform rises to load the new battery into the drone.
  • the completion of the battery replacement operation in this process can simplify the complexity of the device's mechanical structure and better realize the automatic replacement of the UAV battery.
  • the existing UAV base station has a single function and requires more human operations to realize the recovery, battery replacement and release of the UAV.
  • drones perform tasks such as power inspections that need to be completed in remote areas in the wild, relying too much on human operations will greatly reduce the efficiency of the drone and consume a lot of human resources.
  • man-made operation of the UAV is affected by pilot technology, and improper operation will cause damage to the UAV.
  • existing base stations require external power supply to work normally. When the base station is placed in a mountainous area where power is inconvenient for power supply, external power supply will also increase the use cost of the base station.
  • the present invention based on the working environment of the base station and the particularity of the UAV's automatic battery replacement device, through the mechanical structure and control means, fundamentally ensures that the UAV is in the process of landing-battery replacement-takeoff.
  • the stability Specifically:
  • the present invention designs the base station to automatically complete this task
  • the automated base station which is equipped with an electric gripper for automatic battery replacement and a lifting battery box, an electric baffle for adjusting the position of the drone after landing, and a circular drone lifting platform to complete the predetermined task simply and effectively .
  • the base station for drones to take off and land is inconvenient to use external power supply in some environments. For example, in the power inspection, the areas where high-voltage lines pass are mostly remote. If power is supplied to the base station from the outside, it will greatly increase the cost.
  • the present invention designs a foldable solar panel on the top of the base station, so that no external power supply is required, so that the base station can adapt to remote environments, and effectively reduces costs, saves energy and protects the environment.
  • the lifting platform As one of the important facilities in the base station, the lifting platform must ensure high reliability and low failure rate in practical applications. Therefore, the complex structure cannot meet the requirements.
  • the design of the lifting platform in the present invention adopts the scheme of lifting the ring platform with three telescopic rods. The structure is simple, and the top ring of the platform is rotatable, and the position of the drone can be adjusted in cooperation with the electric baffle after the drone has landed.
  • the direct lifting of the lifting platform may cause the drone to collide with other parts of the base station and cause damage, so when the drone is landing Then you need to adjust its position.
  • the existing scheme or structure is complicated, or takes up the limited payload of the UAV.
  • two baffles are arranged in the base station, which cooperate with the top rotation of the platform to adjust the unmanned aerial vehicle to a predetermined position. In order to ensure that the drone is not damaged during the lifting of the platform.
  • the present invention adopts a screw control method, which not only increases the flexibility of the manipulator claw, but also effectively avoids unnecessary collisions between the automatic charging device and the drone to ensure that the entire system will not be damaged.
  • the use of lead screw control can also improve the accuracy of the gripper to grab and put down the battery, making the entire process more stable.
  • the technical solution adopted in the present invention is an energy autonomous base station based on solar powered drones that autonomously take off and land and replace batteries, including drone take-off and landing devices and automatic battery replacement.
  • the device and the energy supply device have three parts.
  • the UAV take-off and landing device consists of an electric baffle and a circular lifting platform.
  • the electric baffle device consists of baffle drive motor 1, large synchronous wheel synchronous belt 2, optical axis bearing seat 3, optical axis fixed seat 4, large synchronous wheel 5, small synchronous wheel 6, positive Y-axis transmission card 7, reverse
  • the Y-axis transmission card 8, the baffle 9 and the optical axis 10 are constituted.
  • the baffle drive motor 1 and the four optical shafts 10 are all fixed on the base station frame.
  • Two of the four optical axes 10 are arranged in parallel vertically as the driving optical axis, and the other two are arranged in parallel in the lateral direction as the sliding track of the baffle 9.
  • the two optical shafts 10 serving as the sliding tracks of the baffle 9 each have a positive Y-axis transmission card 7 and a reverse Y-axis transmission card 8.
  • the two ends of the two baffles 9 are respectively fixed on two positive Y Axis transmission card 7 and two reverse Y-axis transmission cards 8.
  • the baffle drive motor 1 is connected to the large synchronous wheel 5 through the large synchronous wheel synchronous belt 2, and the large synchronous wheel 5 is fixed on one of the driving optical shafts.
  • the driving optical shaft is fixed on the base station frame through the optical shaft bearing seat 3 to The baffle driving motor 1 can drive the entire driving optical axis.
  • the two ends of the driving optical axis where the large synchronization wheel 5 is located are respectively fixed with a small synchronization wheel 6, which is connected to the two small synchronization wheels 6 on the other driving optical axis through the large synchronization wheel timing belt 2, and two positive Y-axis
  • the transmission card 7 is fixed on the upper layer of the large synchronous wheel and synchronous belt 2
  • two reverse Y-axis transmission cards 8 are fixed on the lower layer of the large synchronous wheel and synchronous belt 2 to realize the simultaneous relative or opposite movement of the two baffles 9.
  • the annular lifting platform is composed of an upper rotating ring 11, an upper rotating ring groove 12, a ring rotating motor 13, and a ring lifting rod 14.
  • the upper rotating ring 11 is embedded in the upper rotating ring groove 12, and the upper rotating ring 11 is driven to rotate by the ring rotating motor 13.
  • the ring lifting rod 14 is made of an electric push rod, and the lifting of the ring lifting platform is realized by the ring lifting rod 14.
  • the automatic battery replacement device consists of an electric gripper and its modules, and a liftable battery compartment.
  • the electric gripper and its modules are composed of three module linear guides 15 and electromechanical claws 16.
  • the inside of the modular linear guide 15 is an electric screw structure to realize the precise movement of the components on the guide.
  • two modular linear guide rails 15 are fixed on the base station frame, and the two ends of the other modular linear guide rail 15 are respectively fixed on two modular linear guide rails 15 to realize movement on the Y axis.
  • the electromechanical claw 16 is fixed on the movable linear guide rail of the module to realize the movement on the X axis.
  • the lower part of the electromechanical claw 16 is controlled to realize the change of the opening and closing degree, so as to grasp and release the battery of the drone.
  • the liftable battery compartment is composed of a battery compartment 17 that can accommodate three batteries and a battery box lifting rod 18. Among them, the battery compartment 17 contains a charged battery. When the electromechanical claw 16 removes the battery from the drone and puts it into the battery box, the battery can be charged. At the same time, the electromechanical claw 16 can directly remove the charged battery and install it on the drone. The lifting of the lifting battery compartment is completed by the lifting rod 18 of the battery box.
  • the energy supply device is composed of a foldable solar panel and a storage battery 23.
  • the foldable solar panel is composed of a solar panel turning motor 19, a solar panel 20, a solar panel support 21, and a solar panel support driving motor 22.
  • One side of the solar panel support 21 is connected to the base station frame, and a solar panel support driving motor is designed at one end of the solar panel support 21 and the base station frame to realize the opening and closing of the entire solar panel support on the base station frame.
  • Each of the two solar panels 20 has one side connected with the solar panel support 21, and one end of the connection side is respectively designed with a solar panel turning motor 19 to realize the horizontal turning of the solar panel.
  • the solar panel 20 When there is no unmanned aerial vehicle battery replacement task, the solar panel 20 is turned over and the opening and closing angle of the solar panel bracket 21 is changed to make full use of solar energy to obtain more electric energy.
  • the storage battery is placed in the base station to store the energy generated by the solar panels.
  • the present invention has the following technical effects: the originality of the present invention is mainly embodied in the foldable solar panel energy supply structure, the position adjustment structure of the drone, and the automatic battery replacement structure.
  • the foldable solar panel structure is driven by a motor, which can absorb solar energy to the maximum when there is no drone landing and take off battery replacement task, and charge the battery as fast as possible to ensure the power supply of the entire base station. Since it can supply energy independently, the base station of the present invention can adapt to the environment where power supply is inconvenient such as remote areas, and can effectively save costs.
  • Unmanned aerial vehicle position adjustment structure designs an electric baffle with a certain arc and a rotatable circular lifting platform to realize an unmanned aerial vehicle position adjustment structure.
  • the structure is simple, and it can effectively avoid damage to the drone caused by the position deviation of the drone when the platform is lowered. At the same time, it can facilitate automatic battery replacement.
  • the present invention uses an electric mechanical claw and a liftable battery compartment to complete the automatic replacement of the drone battery. Since the battery compartment and the circular lifting platform can be raised and lowered, the electromechanical claw only needs to move on a plane. The electromechanical claw is aligned with the predetermined position, and the battery can be picked and placed by the lifting of the lifting battery compartment or the circular lifting platform. Thus, the mechanical structure of the automatic battery changer is simplified.
  • Figure 1a is an overall three-dimensional view of the electric baffle device.
  • Figure 1b is a partial three-dimensional view of the key parts of the electric baffle device.
  • Figure 2 The overall three-dimensional view of the ring-shaped lifting platform.
  • Figure 3 The overall three-dimensional view of the electric gripper and its module.
  • Figure 4 is an overall three-dimensional view of the liftable battery box.
  • Fig. 5a is a front view of the whole three-dimensional perspective view of the foldable solar panel.
  • Fig. 5b is an overall three-dimensional view of the foldable solar panel in side view.
  • Fig. 6 A three-dimensional view of the whole battery.
  • Figure 7 The overall three-dimensional view of the UAV automatic take-off and landing battery replacement base station.
  • Figure 8 a UAV landing flow chart.
  • Figure 8 UAV flying and system reset flow chart.
  • Baffle drive motor Synchronous belt 3.
  • Optical axis bearing seat 4.
  • Optical axis fixing seat 5.
  • Large synchronous wheel 6.
  • Small synchronous wheel 7.
  • Forward Y-axis transmission card 8.
  • Reverse Y-axis transmission Card 9, bezel 10, optical axis 11, upper rotating ring 12, upper rotating ring groove 13, ring rotating motor 14, ring lifting rod 15, module linear guide 16, electric mechanical claw 17, battery compartment 18, battery compartment lifting Pole 19, solar panel turning motor 20, solar panel 21, solar panel support 22, solar panel support drive motor 23, battery 24, solar panel top cover 25, electric gripper and its modules 26, ring-shaped lifting platform 27, liftable Battery compartment 28, battery 29, electric baffle device.
  • the solar panel on the top of the base station is opened, and the circular lifting platform rises to a predetermined height.
  • the circular lifting platform drops to a predetermined position, the upper rotating ring rotates, and the baffle gradually moves from both sides to the middle, and contacts the drone's tripod to gradually push the drone to the predetermined position .
  • the baffle returns to both sides, and the circular lifting platform continues to descend to the height required for battery replacement operations.
  • the electromechanical claw moves to a predetermined position, and the circular lifting platform rises until the electromechanical claw is in contact with the UAV battery.
  • the electric mechanical claw tightens, clamps the battery, and the circular lifting platform descends to separate the battery from the drone.
  • the gripper moves to the top of the battery compartment, the battery compartment rises, and the electromechanical claw puts the battery into the battery compartment. Then the battery compartment drops, the electromechanical claw moves to the top of the new battery, the battery compartment rises, the gripper grabs the new battery, and the battery compartment lowers.
  • the electric mechanical claw moves to the top of the drone, the circular lifting platform rises, and the circular lifting platform lowers after the battery is loaded into the drone.
  • the electric mechanical claw returns to its position, and the circular lifting platform rises to the take-off height of the UAV to realize the release of the UAV.
  • FIG. 7 The overall schematic diagram of the UAV automatic take-off and landing battery replacement base station designed in the present invention is shown in FIG. 7.
  • Step 1 Before the drone landed, the solar panel flip motor and the solar panel support drive motor make the solar panel return to its position. Then, the solar panel turning motor drives the solar panel to turn 180 degrees to make it fully open. The ring lifting rod pushes the ring lifting platform to a position level with the upper edge of the base station so that the drone can land.
  • Step 2 After the drone has landed on the circular lifting platform, the platform is lowered to a height where the drone's tripod and baffle can be leveled. Then the ring rotating motor drives the upper rotating ring to rotate, while the baffle drive motor drives the baffle to slowly move to the ring lifting platform.
  • the baffle with a larger arc can gradually adjust the position of the drone.
  • the edge arc of the baffle moves to the predetermined position, the drone can be adjusted to the ideal position for subsequent battery replacement.
  • the baffle is returned to its position. At this point, the UAV position adjustment part is completed.
  • Step 3 The circular lifting platform is lowered to the height required for battery replacement, and then the electric mechanical claw moves to the top of the drone.
  • the circular lifting platform rises to the height where the predetermined part of the UAV battery enters the grasping range of the electric mechanical claw and stops rising, and the electric mechanical claw is tightened to clamp the UAV battery.
  • the circular lifting platform descended to separate the drone from the battery.
  • the electromechanical claw moves to the top of the hollow battery compartment, and then the battery compartment lifting rod pushes the battery compartment up until the battery is completely in the bin, the electromechanical claw releases the battery and replaces it The battery can be charged in the battery compartment for the next task, and then the battery compartment is lowered.
  • the electromechanical claw moves to the top of the charged battery. Then the battery compartment rises again to the height where the electromechanical claw grabs the battery, the electromechanical claw grabs the battery, and then the battery compartment drops to the original position.
  • the electric mechanical claw moves to the top of the drone, and the circular lifting platform rises until the new battery enters the predetermined part of the drone, and the electric mechanical claw releases the battery.
  • the ring-shaped lifting platform is lowered to a height that does not affect the movement of the electromechanical claw, so that the electromechanical claw can return to its position.
  • the circular lifting platform rises to a height level with the upper edge of the base station frame, and the drone can be released. At this point, the automatic battery replacement work is over.
  • Step 4 After the drone takes off, the circular lifting platform returns to its position, and the solar panel flipping motor drives the solar panel to flip to the normal working position. Then the solar panel flipping motor and the solar panel support drive motor work, so that the solar panel returns to an efficient working state.
  • the whole process is divided into the drone landing process, the drone position adjustment process, the automatic battery replacement process, the drone release and the system reset process.
  • the landing process of the drone is shown in Figure 8a.
  • the solar panel works normally and supplies power to the battery.
  • the solar panel is driven by the solar panel support motor to drive the solar panel back into place.
  • the solar panel flip motor drives the solar panel to fully turn on.
  • the ring lifting rod extends and the ring lifting platform rises.
  • the UAV position adjustment process is shown in Figure 8b.
  • the circular lifting rod was shortened and the platform lowered to the height of the baffle.
  • the ring lifting rod stops shortening, the baffle drive motor drives the two baffles to approach the ring lifting platform at the same time, and the ring rotation motor on the ring lifting platform drives the upper rotating ring to rotate.
  • the baffle drive motor reverses to drive the baffle back to its position. At this point, the drone position adjustment is over.
  • the automatic battery replacement process is shown in Figure 8c.
  • the electric mechanical claw starts to move, and the circular lifting platform rises after the electric mechanical claw moves to the top of the drone battery compartment. Does the circular lifting platform rise to a height where the UAV battery can be grasped by the electric mechanical claws and stop rising?
  • the electric mechanical claws are clamped to complete the operation of grabbing the battery, and the rear ring telescopic rod is shortened to drive the circular lifting platform down.
  • the electric mechanical claw moves to the top of the liftable battery compartment with the grabbed battery, and the battery compartment lifting rod extends to raise the battery compartment.
  • the electromechanical claw releases the battery, the lifting rod of the battery compartment is shortened, and the battery compartment is lowered. After the battery compartment drops to a predetermined height, the electromechanical claw moves to the top of the new battery, and then the battery compartment lifting rod extends, and the battery compartment rises again. When the battery compartment is raised to a height where the new battery can be grasped by the electromechanical claw, the ascent stops, and the electromechanical claw grabs the new battery. Then the lifting rod of the battery compartment is shortened, and the battery compartment is lowered to the original position. Then the electric mechanical claw moves to the top of the drone battery compartment. After the electromechanical claw is in place, the ring telescopic rod is extended to drive the ring lifting platform up. After the battery enters the battery compartment completely, the electromechanical claw releases the battery and the ring telescopic rod shortens. After the circular lifting platform drops to a predetermined height, the electromechanical claw returns to its position, and the automatic battery replacement process ends.
  • the flow of UAV flying and system reset is shown in Figure 8d.
  • the ring telescopic rod is extended to drive the ring lifting platform up. After the circular lifting platform rises to be level with the upper edge of the base station frame, the drone can take off. After the drone takes off, the ring telescopic rod is shortened to drive the ring-shaped lifting platform back into position. After the ring-shaped lifting platform returns to its position, the solar panel flip motor drives the solar panel to return to its position. After the solar panel is returned to its position, the solar panel flip motor and the solar panel support drive motor start to work, so that the solar panel returns to its normal working state. At this point, the entire process ends.

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Abstract

基于太阳能供电的无人机自主起降换电池的能源自治基站，包括无人机起降装置、自动更换电池装置和供能装置三部分。供能装置中的可翻折太阳能板结构由电机驱动。有一定弧度的电动挡板与可旋转的环形升降平台相结合实现无人机位置调整结构。该能源自治基站结构简单，且能有效避免平台下降时无人机位置偏差造成无人机损坏，便于自动换电池的进行。自动更换电池装置采用电动机械爪与可升降电池仓配合完成无人机电池的自动更换。由于电池仓和环形升降平台可升降，电动机械爪只需在一个平面上移动即可。电动机械爪对准预定位置，通过可升降电池仓或环形升降平台的升降即可完成电池的抓放，使自动换电池装置机械结构得到简化。

Description

基于太阳能供电的无人机自主起降换电池的能源自治基站 技术领域
本发明涉及一种基于太阳能供电的无人机自主起降换电池的能源自治基站，属于无人机控制技术领域。
背景技术
近年来，无人机被广泛应用到各个领域，控制技术日趋成熟，在当今社会中发挥着重要的作用。无人机上可搭载图像传输、数据传输、GPS导航系统、超声波监测装置等模块，因此，无人机可满足目前绝大多数应用需求。如电力巡检、农林保险等多个领域，甚至还可以作为运载、勘探、巡逻工具。但由于旋翼无人机升力与机体重量的限制，导致旋翼无人机可携带的电池容量被限制。现有无人机一般续航时间约为三十分钟左右。由于时间较短，导致在无人机工作过程中需要有工作人员把握时间，不断更换电池。在目前的电池技术条件下，如果没有工作人员参与，无人机难以长时间执行一些时间较长的任务，如高压线路巡检、消防抗灾等。由于我国内蒙古、新疆等省市地广人稀，地形崎岖，如果需要工作人员跟随无人机完成任务，则会造成人力资源的大量浪费。因此，目前急需一种能够使无人机能够自主起降并自动更换电池的能源自治基站，保证无人机能够在执行任务过程中保持良好的续航能力，而基站也无需接入外部电源，采用能源自治方式实现能源的补给。旋翼无人机在电量低于某一数值后通过回到基站，更换电池后继续执行任务。
目前，国内无人机更换电池的主要问题是人工更换无人机电池过程会导致人力资源的大量浪费，而部分已有的自动更换电池装置较为复杂，且所需精度过高，成本过大。因此，如何能够更换无人机电池，增强无人机的续航能力是需要解决的首要问题。本发明是基于机械传动技术和先进控制理论的能源自治的无人机自动起降换电池的基站，主要解决以下问题：
1、由于无人机自动起降的基站需要放置在室外甚至一些偏僻的地区，(草原地区电力巡检，可将基站做成接力式巡检基站)基站就需要比较高的自动化程度，较低的故障率和较低的维护成本。因此，基站的设计以简洁、实用为宗旨。并且整个基站工作所需的能源都由太阳能提供，更为环保，不会影响环境。
2、由于无人机降落后位置会有较大的偏差，因而设计了一种能够在无人机 降落之后对其位置进行调整的装置，以使后续无人机自动更换电池能够顺利进行。
3、由于传统无人机更换电池需要人工更换，其需要工作人员跟随无人机并且全程遥控，不但耗费了大量人力资源，同时也存在因飞手的技术水平参差不齐而造成无人机在降落过程中受到损伤。因此，本发明采用机械爪更换电池，可以让无人机在定点降落在指定位置后，通过更换电池的方法，短时间内再次获得充足电量，保证无人机完成任务过程中的高续航能力，同时也实现了部分地形较为崎岖的地域中无人机能够在没有人参与的情况下完成任务，具有较高的自动化、智能化水平。
无人机构造简单、成本低、可垂直起降、机动性能好、环境适应能力强，并且可以携带各种各样的设备完成相应的任务，因此在民用领域的运用正逐渐扩大。随着智能技术、微电子技术、数字通信技术、传感技术和虚拟现实技术等的蓬勃发展，一些原本存在于技术发展前进道路上的难题逐渐被攻克，无人机事业的发展蒸蒸日上。但是现在无人机的续航能力始终限制着其飞行距离与发展空间。根据此问题，本发明提供了一种无人机自动起降并更换电池的能源自治基站设计，以便解决无人机续航能力不足的问题。
在无人机自动起降基站方面，目前相关报道还比较少，且现有的产品功能比较单一，仅能实现无人机的起降及回收。经专利检索，类似的专利为2017306861263，名称为无人机基站。该发明是单片盖板横向开合，内部有升降平台，可以完成无人机的起降和回收，但无法在无人机降落后调整其位置。若无人机降落位置出现较大偏差，平台降下时可能损坏无人机。基站功能较为单一，且需要外部供能。
在无人机起落的起降平台方面，目前已经有了一些设计，但现有设计大多机械结构复杂。国内对无人机升降平台的设计也比较少，经专利检索，专利号为2017217536570，名称为无人机起降平台。该发明使用铰接与折叠结构实现平台的升降，结构较为复杂，且该结构稳定性不足，某一个零件的故障就会令平台无法正常升降，维护成本较高。而且在无人机落在平台上时，会有一定的偏差，因此如何对无人机的水平位置进行调整也是一个关键问题。类似的解决方案经专利检索，专利号为2016109316653、2016109345783，名称为无人机起降平台。这两个专利采取的方案为无人机底部装配的竖直杆插入升降台中心的漏斗形孔，以 对正无人机的位置。这种设计虽然可以解决无人机降落水平位置偏差的问题，但是无论是平台的设计还是无人机的设计上都比较复杂，特别是无人机上加装的装置会增加无人机的重量，占用无人机上本就紧张的空间。
针对无人机的自动更换电池问题，目前已有一些能够通过机械结构进行自动更换电池的技术。但是其均需要具有较高的精度和较为复杂的机械结构。而且国内针对如何能够实现无人机自动更换电池的问题，相关报道也比较少。经文献检索，专利公告号为1085058848，专利号为201810062724，名称为无人机电池更换装置及无人机电池自动更换方法。该发明是通过机械手臂辅助电池进出电池仓，较我们的发明而言复杂程度更高，所需的精密度也更高，实现难度较大。由于其机械结构更为复杂，需要较高的工艺水平，成本也相应更高。且由于机械臂内部齿轮和电机容易受到电池重量的影响而造成偏差，长时间使用后可能会导致电池不能够顺利送入电池仓而对无人机造成损害。
综上所述，现有技术在基站设计上功能较为单一，均无法自主供能，以至于在一些偏远地区部署比较困难。而且无法安全、稳定地完成无人机自动更换电池的任务，无法方便快捷地解决无人机的续航问题。综合现有的相关发明，根据无人机的实际工作情况和对基站的功能的实际需求，本发明采用新的思路，从而使整个工作过程更为简洁，整个系统的稳定性更高。从而能够保证无人机在没有人的控制下完成电池的更换任务。
首先，上述提到的现有发明中，有些基站仅能供无人机起降，对无人机的续航并无帮助。因此，在基站功能的设计上，为了解决无人机续航时间短的问题，本发明中的基站被设计为可供无人机起降，并自动换电池的能源自治基站；其次，在无人机起降平台的设计上，上述发明结构较为复杂，还需对无人机进行专门的改装。而且无人机降落时会有一定的偏差，若无人机降落到平台上时位置偏差较大，平台下降时可能会使无人机与基站刮碰，从而造成无人机的损坏。本发明设计了电动推杆推动可旋转圆环的升降平台，结构简单，且具有较好的稳定性。且当无人机降落在圆环上之后，在圆环旋转的同时，电动挡板缓慢向圆环靠近，进而使无人机处于圆环的预定位置上，避免了因无人机位置偏差带来的安全隐患，并为之后的自动更换电池提供了条件；最后，在自动更换电池方面，上述发明机械结构较为复杂，因此，本发明采用只在一个平面上移动的电动抓手对无人机电 池进行抓取。抓手抓住无人机电池之后，升降平台降下一定高度，使电池脱离无人机。然后，抓手移动到电池盒正上方，电池盒升起，抓手松开，电池入盒，而后电池盒降下一定高度，待抓手移动到电池盒中新电池的位置后，电池盒再次上升，抓手抓取新电池，并移动到无人机上方，升降平台上升，使新电池装入无人机。以此流程完成换电池操作，可以简化装置机械结构的复杂程度，更好地实现对无人机电池的自动更换。
虽然上述已有的无人机基站、升降平台、自动换电池技术在相应的应用领域得到一定的应用，实现了一定的功能，但是如果要直接应用于无人机降落—换电池—起飞这一流程中还是存在一些问题。
1)基站功能的问题
现有的无人机基站功能较为单一，且更多地需要人来操作才能实现无人机的回收、更换电池与放飞。当无人机执行如电力巡检等需要在野外偏远地区完成的任务时，过多地依赖人的操作会大大降低无人机工作效率，还会消耗大量的人力资源。且人为操纵无人机受飞手技术等影响，若操作不当会对无人机造成损伤。而且现有的基站都需要外部供电才能正常工作，当基站被放置在不便供电的山区等地点时，外部供电也会提高基站的使用成本。
2)无人机降落之后平台的升降带来的问题
现有的无人机基站中，大多在无人机降落后直接降下升降平台。由于无人机降落时的精度受无人机自身软硬件和环境影响，无人机的位置与预定位置或多或少存在偏差。若不将无人机位置调正就直接将无人机起降平台降下，可能会使无人机与基站中其他部分发生刮碰，造成无人机的损坏。
3)无人机更换电池装置工艺复杂
现有的无人机回收后，大多数需要人工更换电池，使用机械手臂进行自动换电池的装置普遍较为复杂，造价比较昂贵。当无人机降落后，需要多道工序才能完成无人机电池的更换任务。同时由于其机械结构较为复杂，在无人机降落后可能会因为降落时的冲力而导致无人机与更换电池装置发生碰撞，可能会导致无人机自动更换电池装置内部结构遭到破坏。
发明内容
针对上述存在的问题，本发明根据基站工作环境以及无人机自动更换电池装 置的特殊性，通过机械结构和控制手段，从根本上保证了无人机在降落—换电池—起飞这一过程中的稳定性。具体来说：
对于基站功能的问题：针对现有基站大多在功能上无法完成无人机自动起降并更换电池或此过程中需要过多的人工操作等问题，本发明将基站设计为可自动完成这一任务的自动化基站，其中装有用于自动更换电池的电动抓手及可升降的电池盒、用于调整无人机降落后位置的电动挡板以及环形无人机升降平台，以简单有效地完成预定任务。供无人机起降的基站在有些环境中使用外部供电有诸多不便。比如在电力巡检中，高压线路所经地区大多偏僻，若通过外部给基站供电，则会极大提高成本。本发明在基站供能方面，在基站顶部设计了可翻折的太阳能板，这样不需要外部供电，使得基站可以适应偏僻的环境，并且有效降低成本，节能环保。
对于升降台的设计问题：作为基站内重要设施之一的升降台，在实际的应用中，必须保证高的可靠性和低的故障率。因此复杂的结构不能满足要求。本发明中升降台的设计采用三根伸缩杆顶起环形平台的方案，结构简单，且平台顶层圈可旋转，可以在无人机降落后与电动挡板配合调整无人机的位置。
对于无人机降落后水平位置调整的问题：由于无人机降落会有一定偏差，升降平台直接进行升降可能会使无人机与基站内其它部分发生刮碰造成损坏，因此在无人机降落后就需要对其位置进行调整。现有方案或结构复杂，或占用无人机有限的载荷。本发明在基站内设置了两块挡板，与平台顶层旋转相配合，将无人机调整到预定位置。以保证无人机在平台升降过程中不受损坏。
对于无人机更换电池装置工艺复杂的问题：由于无人机起飞和降落个过程需要一定的空间，如果自动更换电池装置在无人机起降过程中与无人机碰撞可能会导致装置损坏。因此，本发明采用丝杠控制的方式，不但增加了机械手爪的灵活度，同时也有效避免了自动充电装置与无人机之间的不必要碰撞保证整个系统不会受到损害。采用丝杠控制还可以提高抓手抓取与放下电池的精度，使整个流程更加稳定。
为了实现无人机的自动起降换电池的要求，本发明采用的的技术方案为基于太阳能供电的无人机自主起降换电池的能源自治基站，包括无人机起降装置、自动更换电池装置和供能装置三部分。
无人机起降装置由电动挡板和环形升降平台组成。电动挡板装置由挡板驱动电机1、大同步轮同步带2、光轴轴承座3、光轴固定座4、大同步轮5、小同步轮6、正向Y轴传动卡7、反向Y轴传动卡8、挡板9和光轴10构成。其中，挡板驱动电机1和四根光轴10均固定在基站框架上。
四根光轴10中两根竖向平行布置作为驱动光轴，另外两根横向平行布置作为挡板9的滑动轨道。两根作为挡板9的滑动轨道的光轴10上各有一个正向Y轴传动卡7和一个反向Y轴传动卡8，两片挡板9的两端分别固定在两个正向Y轴传动卡7和两个反向Y轴传动卡8上。
挡板驱动电机1通过大同步轮同步带2与大同步轮5连接，大同步轮5固定在其中一根驱动光轴上，该驱动光轴通过光轴轴承座3固定在基站框架上，以使挡板驱动电机1能够驱动整根驱动光轴。大同步轮5所在驱动光轴的两端分别固定一个小同步轮6，通过大同步轮同步带2分别与另一根驱动光轴上的两个小同步轮6连接，两个正向Y轴传动卡7固定在大同步轮同步带2的上层，两个反向Y轴传动卡8固定在大同步轮同步带2的下层，以实现两片挡板9同时相对或相向运动。
环形升降平台由上旋转环11、上旋转环槽12、环旋转电机13和环升降杆14构成。上旋转环11镶嵌在上旋转环槽12上，由环旋转电机13驱动上旋转环11旋转。环升降杆14由电动推杆制成，环形升降平台的升降则由环升降杆14实现。
自动更换电池装置由电动抓手及其模组、可升降电池仓组成。电动抓手及其模组由三根模组直线导轨15和电动机械爪16构成。模组直线导轨15内部为电动丝杠结构，实现导轨上部件的精确移动。其中，两根模组直线导轨15固定在基站框架上，另外一根模组直线导轨15两端分别固定在两根模组直线导轨15上，以实现Y轴上的移动。电动机械爪16固定在能够移动的模组直线导轨上，以实现X轴上的移动。电动机械爪16的下部通过控制实现开合程度的变化，以此来抓放无人机的电池。
可升降电池仓由可容纳三块电池的电池仓17和电池盒升降杆18构成。其中，电池仓17中装有充好电的电池，当电动机械爪16将无人机上的电池取下后放入电池盒，即可给电池充电。同时，电动机械爪16能够直接将充好电的电池取走 装在无人机上。可升降电池仓的升降由电池盒升降杆18完成。
供能装置由可翻折太阳能板和蓄电池23组成。可翻折太阳能板由太阳能板翻转电机19、太阳能板20、太阳能板支架21和太阳能板支架驱动电机22构成。太阳能板支架21的一侧与基站框架相连接，在太阳能板支架21与基站框架相接一侧的一端设计有太阳能板支架驱动电机，以实现整个太阳能板支架在基站框架上的开合。两片太阳能板20各有一侧与太阳能板支架21相连接，连接侧的一端分别设计有太阳能板翻转电机19，以实现太阳能板的横向翻转。在没有无人机换电池任务时，通过太阳能板20的翻转和太阳能板支架21的开合角度变化来充分利用太阳能，以获得更多的电能。蓄电池放置在基站中，用来储存太阳能板所发电能。
与现有技术相比，本发明具有如下技术效果：本发明的独创性主要体现在可翻折太阳能板供能结构、无人机的位置调整结构和自动换电池结构。
可翻折太阳能板结构由电机驱动，可以在没有无人机降落起飞换电池任务时最大限度的吸收太阳能，以尽可能快的速度向蓄电池充电，保证整个基站的供电。由于能够自主供能，本发明的基站可以适应偏远地区等不便供电的环境，可以有效地节约成本。
无人机位置调整结构：本发明设计了一种有一定弧度的电动挡板与可旋转的环形升降平台相结合实现无人机位置调整结构。结构简单，且可以有效避免平台下降时无人机位置偏差造成无人机损坏。同时，可以便于自动换电池的进行。
自动换电池结构：本发明采用电动机械爪与可升降电池仓配合完成无人机电池的自动更换。由于电池仓和环形升降平台可升降，电动机械爪只需在一个平面上移动即可。电动机械爪对准预定位置，通过可升降电池仓或环形升降平台的升降即可完成电池的抓放。从而使自动换电池装置机械结构得到简化。
附图说明
图1a电动挡板装置整体三维立体图。
图1b电动挡板装置关键部位局部三维立体图。
图2环形升降平台整体三维立体图。
图3电动抓手及其模组整体三维立体图。
图4可升降电池盒整体三维立体图。
图5a可翻折太阳能板主视整体三维立体图。
图5b可翻折太阳能板侧视整体三维立体图。
图6蓄电池整体三维立体图。
图7无人机自动起降换电池基站整体三维立体图。
图8a无人机降落流程图。
图8b无人机位置调整流程图。
图8c自动换电池流程图。
图8d无人机放飞及系统复位流程图。
图中：1、挡板驱动电机 2、同步带 3、光轴轴承座 4、光轴固定座 5、大同步轮 6、小同步轮 7、正向Y轴传动卡 8、反向Y轴传动卡 9、挡板 10、光轴 11、上旋转环 12、上旋转环槽 13、环旋转电机 14、环升降杆 15、模组直线导轨 16、电动机械爪 17、电池仓 18、电池仓升降杆 19、太阳能板翻转电机 20、太阳能板 21、太阳能板支架 22、太阳能板支架驱动电机 23、蓄电池 24、太阳能板顶盖 25、电动抓手及其模组 26、环形升降平台 27、可升降电池仓 28、蓄电池 29、电动挡板装置。
具体实施方式
以下结合附图和实施例对本发明进行详细说明。
无人机即将降落时，基站顶部太阳能板打开，环形升降平台升起到预定高度。无人机在环形升降平台着陆后，环形升降平台降到预定位置，上旋转环旋转，挡板从两侧向中间逐渐移动，与无人机脚架接触，将无人机逐渐推至预定位置。无人机至预定位置后，挡板向两侧归位，环形升降平台继续下降至换电池操作所需高度。电动机械爪移动至预定位置，环形升降平台上升，直至电动机械爪与无人机电池接触。电动机械爪收紧，夹住电池，环形升降平台下降，使电池与无人机分离。抓手移至电池仓上方，电池仓升起，电动机械爪将电池放入电池仓。而后电池仓下降，电动机械爪移动至新电池上方，电池仓上升，抓手抓取新电池，电池仓降下。电动机械爪移至无人机上方，环形升降平台上升，电池装入无人机后环形升降平台降下。电动机械爪归位，环形升降平台上升至无人机起飞高度，实现无人机的放飞。
本发明设计的无人机自动起降换电池基站的整体示意图如图7所示。
步骤1：无人机降落前，太阳能板翻转电机和太阳能板支架驱动电机使太阳能板归位。然后，太阳能板翻转电机驱动太阳能板翻转180度，使其呈完全打开状态。环升降杆将环形升降台推至与基站上沿持平的位置，以便无人机降落。
步骤2：无人机降落至环形升降平台上之后，平台下降至可以使无人机脚架与挡板持平的高度。然后环旋转电机驱动上旋转环转动，同时挡板驱动电机驱动挡板缓慢向环形升降平台移动。当无人机脚架开始与挡板接触时，通过上旋转环的旋转和挡板的逐步推进，具有较大弧度的挡板可以逐渐调整无人机位置。当挡板边缘弧移动至预定位置后，无人机便可调整到理想位置，以便后续换电池环节的进行。调整完成后，挡板归位，至此，无人机位置调整部分完成。
步骤3：环形升降平台下降到换电池所需高度，然后，电动机械爪移动至无人机上方。环形升降平台上升至无人机电池预定部位进入电动机械爪抓取范围的高度时停止上升，电动机械爪收紧，夹住无人机电池。紧接着，环形升降平台下降，使无人机与电池分离。待无人机与电池分离完成后，电动机械爪移动至电池仓中空的电池仓上方，而后，电池仓升降杆推动电池仓上升，直至电池完全入仓后，电动机械爪松开电池，换下的电池在电池仓内即可进行充电，以备下次任务使用，然后电池仓下降。电池仓降至不影响电动机械爪移动的高度时，电动机械爪移至充好电的电池上方。然后电池仓再次上升至电动机械爪抓取电池的高度，电动机械爪抓住电池，紧接着电池仓下降到原位。电池仓降下之后，电动机械爪移动至无人机上方，环形升降平台上升至新电池进入无人机预定部位之后，电动机械爪释放电池。新电池就位后，环形升降平台降至不影响电动机械爪移动的高度，以便电动机械爪归位。待电动机械爪归位后，环形升降平台上升至与基站框架上沿持平的高度，此时无人机即可放飞。至此，自动更换电池工作结束。
步骤4：无人机起飞后，环形升降平台归位，太阳能板翻转电机驱动太阳能板翻转至正常工作位置。然后太阳能板翻转电机和太阳能板支架驱动电机工作，使太阳能板回到高效工作状态。
由于基站完整工作流程较长，此处将整个流程分为无人机降落流程、无人机位置调整流程、自动换电池流程、无人机放飞及系统复位流程。
本发明的无人机自动起降换电池流程图如图8a-8d所示。
无人机降落流程如图8a所示。在没有无人机起降任务时，太阳能板正常工 作，向蓄电池供电。无人机准备降落时，通过太阳能板翻转电机太阳能板支架驱动电机驱动太阳能板归位。太阳能板归位后，太阳能板翻转电机驱动太阳能版完全开启。太阳能板完全开启后环升降杆伸长，环形升降台上升。环形升降平台升至与基站框架上沿持平时，结束上升过程，无人机可以着陆在平台上。
无人机位置调整流程如图8b所示。无人机降落至环形升降平台后，环升降杆缩短，平台下降至挡板高度。降至挡板高度后，环升降杆停止缩短，挡板驱动电机驱动两挡板同时向环形升降平台靠近，同时环形升降平台上的环旋转电机驱动上旋转环旋转。待挡板移至紧贴环形升降平台时，环旋转电机停止工作，上旋转环停止旋转，同时，挡板驱动电机反转，驱动挡板归位。至此，无人机位置调整结束。
自动换电池流程如图8c所示。环形升降平台降至进行无人机换电池操作的高度后，电动机械爪开始移动，待电动机械爪移动至无人机电池仓上方后，环形升降平台上升。环形升降平台升至无人机电池可以被电动机械爪抓紧的高度后停止上升吗，电动机械爪夹紧，完成抓取电池操作，而后环伸缩杆缩短驱动环形升降平台下降。待环形升降平台降至无人机与电池完全分离后，电动机械爪带着抓取的电池移动至可升降电池仓上方，电池仓升降杆伸长，使电池仓升高。电池完全进入电池仓后，电动机械爪松开电池，电池仓升降杆缩短，电池仓下降。待电池仓降至预定高度后，电动机械爪移至新电池上方，而后电池仓升降杆伸长，电池仓再次上升。待电池仓升至新电池可以被电动机械爪抓紧的高度后停止上升，电动机械爪抓取新电池。而后电池仓升降杆缩短，电池仓下降至原位。紧接着电动机械爪移动至无人机电池仓上方。电动机械爪就位后，环伸缩杆伸长驱动环形升降平台上升。电池完全进入电池仓后，电动机械爪松开电池，环伸缩杆缩短。环形升降平台降至预定高度后，电动机械爪归位，自动换电池流程结束。
无人机放飞及系统复位流程如图8d所示。环伸缩杆伸长，驱动环形升降平台上升。环形升降平台上升至与基站框架上沿持平后，无人机即可起飞。无人机起飞后，环伸缩杆缩短驱动环形升降平台归位。环形升降平台归位后，太阳能板翻转电机驱动太阳能板归位。太阳能板归位后，太阳能板翻转电机和太阳能板支架驱动电机开始工作，使太阳能板恢复正常工作状态。至此，整个流程结束。

Claims (7)

  1. 基于太阳能供电的无人机自主起降换电池的能源自治基站，其特征在于：包括无人机起降装置、自动更换电池装置和供能装置三部分；
    无人机起降装置由电动挡板和环形升降平台组成；电动挡板装置由挡板驱动电机(1)、大同步轮同步带(2)、光轴轴承座(3)、光轴固定座(4)、大同步轮(5)、小同步轮(6)、正向Y轴传动卡(7)、反向Y轴传动卡(8)、挡板(9)和光轴(10)构成；其中，挡板驱动电机(1)和四根光轴(10)均固定在基站框架上；
    四根光轴(10)中两根竖向平行布置作为驱动光轴，另外两根横向平行布置作为挡板(9)的滑动轨道；两根作为挡板(9)的滑动轨道的光轴(10)上各有一个正向Y轴传动卡(7)和一个反向Y轴传动卡(8)，两片挡板(9)的两端分别固定在两个正向Y轴传动卡(7)和两个反向Y轴传动卡(8)上；
    挡板驱动电机(1)通过大同步轮同步带(2)与大同步轮(5)连接，大同步轮(5)固定在其中一根驱动光轴上，该驱动光轴通过光轴轴承座(3)固定在基站框架上，以使挡板驱动电机(1)能够驱动整根驱动光轴；大同步轮(5)所在驱动光轴的两端分别固定一个小同步轮(6)，通过大同步轮同步带(2)分别与另一根驱动光轴上的两个小同步轮(6)连接，两个正向Y轴传动卡(7)固定在大同步轮同步带(2)的上层，两个反向Y轴传动卡(8)固定在大同步轮同步带(2)的下层，以实现两片挡板(9)同时相对或相向运动；
    环形升降平台由上旋转环(11)、上旋转环槽(12)、环旋转电机(13)和环升降杆(14)构成；上旋转环(11)镶嵌在上旋转环槽(12)上，由环旋转电机(13)驱动上旋转环(11)旋转；环升降杆(14)由电动推杆制成，环形升降平台的升降则由环升降杆(14)实现；
    自动更换电池装置由电动抓手及其模组、可升降电池仓组成；电动抓手及其模组由三根模组直线导轨(15)和电动机械爪(16)构成；模组直线导轨(15)内部为电动丝杠结构，实现导轨上部件的精确移动；其中，两根模组直线导轨(15)固定在基站框架上，另外一根模组直线导轨(15)两端分别固定在两根模组直线导轨(15)上，以实现Y轴上的移动；电动机械爪(16)固定在能够移动的模组直线导轨上，以实现X轴上的移动；电动机械爪(16)的下部通过控制实现开合程度的变化，以此来抓放无人机的电池；
    可升降电池仓由可容纳三块电池的电池仓(17)和电池盒升降杆(18)构成；其中，电池仓(17)中装有充好电的电池，当电动机械爪(16)将无人机上的电池取下后放入电池盒，即可给电池充电；同时，电动机械爪(16)能够直接将充好电的电池取走装在无人机上；可升降电池仓的升降由电池盒升降杆(18)完成；
    供能装置由可翻折太阳能板和蓄电池(23)组成；可翻折太阳能板由太阳能板翻转电机(19)、太阳能板(20)、太阳能板支架(21)和太阳能板支架驱动电机(22)构成；太阳能板支架(21)的一侧与基站框架相连接，在太阳能板支架(21)与基站框架相接一侧的一端设计有太阳能板支架驱动电机(22)，以实现整个太阳能板支架(21)在基站框架上的开合；两片太阳能板(20)各有一侧与太阳能板支架(21)相连接，连接侧的一端分别设计有太阳能板翻转电机(19)，以实现太阳能板的横向翻转；在没有无人机换电池任务时，通过太阳能板(20)的翻转和太阳能板支架(21)的开合角度变化来充分利用太阳能，以获得更多的电能；蓄电池放置在基站中，用来储存太阳能板所发电能。
  2. 根据权利要求1所述的基于太阳能供电的无人机自主起降换电池的能源自治基站，其特征在于：
    无人机即将降落时，基站顶部太阳能板打开，环形升降平台升起到预定高度；无人机在环形升降平台着陆后，环形升降平台降到预定位置，上旋转环旋转，挡板从两侧向中间逐渐移动，与无人机脚架接触，将无人机逐渐推至预定位置；无人机至预定位置后，挡板向两侧归位，环形升降平台继续下降至换电池操作所需高度；电动机械爪移动至预定位置，环形升降平台上升，直至电动机械爪与无人机电池接触；电动机械爪收紧，夹住电池，环形升降平台下降，使电池与无人机分离；抓手移至电池仓上方，电池仓升起，电动机械爪将电池放入电池仓；而后电池仓下降，电动机械爪移动至新电池上方，电池仓上升，抓手抓取新电池，电池仓降下；电动机械爪移至无人机上方，环形升降平台上升，电池装入无人机后环形升降平台降下；电动机械爪归位，环形升降平台上升至无人机起飞高度，实现无人机的放飞。
  3. 根据权利要求1所述的基于太阳能供电的无人机自主起降换电池的能源自治基站，其特征在于：
    无人机自动起降换电池基站的整体实施过程如下，
    步骤1：无人机降落前，太阳能板翻转电机和太阳能板支架驱动电机使太阳能板归位；然后，太阳能板翻转电机驱动太阳能板翻转180度，使其呈完全打开状态；环升降杆将环形升降台推至与基站上沿持平的位置，以便无人机降落；
    步骤2：无人机降落至环形升降平台上之后，平台下降至可以使无人机脚架与挡板持平的高度；然后环旋转电机驱动上旋转环转动，同时挡板驱动电机驱动挡板缓慢向环形升降平台移动；当无人机脚架开始与挡板接触时，通过上旋转环的旋转和挡板的逐步推进，具有较大弧度的挡板可以逐渐调整无人机位置；当挡板边缘弧移动至预定位置后，无人机便可调整到理想位置，以便后续换电池环节的进行；调整完成后，挡板归位，至此，无人机位置调整部分完成；
    步骤3：环形升降平台下降到换电池所需高度，然后，电动机械爪移动至无人机上方；环形升降平台上升至无人机电池预定部位进入电动机械爪抓取范围的高度时停止上升，电动机械爪收紧，夹住无人机电池；紧接着，环形升降平台下降，使无人机与电池分离；待无人机与电池分离完成后，电动机械爪移动至电池仓中空的电池仓上方，而后，电池仓升降杆推动电池仓上升，直至电池完全入仓后，电动机械爪松开电池，换下的电池在电池仓内即可进行充电，以备下次任务使用，然后电池仓下降；电池仓降至不影响电动机械爪移动的高度时，电动机械爪移至充好电的电池上方；然后电池仓再次上升至电动机械爪抓取电池的高度，电动机械爪抓住电池，紧接着电池仓下降到原位；电池仓降下之后，电动机械爪移动至无人机上方，环形升降平台上升至新电池进入无人机预定部位之后，电动机械爪释放电池；新电池就位后，环形升降平台降至不影响电动机械爪移动的高度，以便电动机械爪归位；待电动机械爪归位后，环形升降平台上升至与基站框架上沿持平的高度，此时无人机即可放飞；至此，自动更换电池工作结束；
    步骤4：无人机起飞后，环形升降平台归位，太阳能板翻转电机驱动太阳能板翻转至正常工作位置；然后太阳能板翻转电机和太阳能板支架驱动电机工作，使太阳能板回到高效工作状态；
    由于基站完整工作流程较长，此处将整个流程分为无人机降落流程、无人机位置调整流程、自动换电池流程、无人机放飞及系统复位流程。
  4. 根据权利要求3所述的基于太阳能供电的无人机自主起降换电池的能源自治基站，其特征在于：
    无人机降落流程如下，在没有无人机起降任务时，太阳能板正常工作，向蓄电池供电；无人机准备降落时，通过太阳能板翻转电机太阳能板支架驱动电机驱动太阳能板归位；太阳能板归位后，太阳能板翻转电机驱动太阳能版完全开启；太阳能板完全开启后环升降杆伸长，环形升降台上升；环形升降平台升至与基站框架上沿持平时，结束上升过程，无人机可以着陆在平台上。
  5. 根据权利要求3所述的基于太阳能供电的无人机自主起降换电池的能源自治基站，其特征在于：无人机位置调整流程如下，无人机降落至环形升降平台后，环升降杆缩短，平台下降至挡板高度；降至挡板高度后，环升降杆停止缩短，挡板驱动电机驱动两挡板同时向环形升降平台靠近，同时环形升降平台上的环旋转电机驱动上旋转环旋转；待挡板移至紧贴环形升降平台时，环旋转电机停止工作，上旋转环停止旋转，同时，挡板驱动电机反转，驱动挡板归位；至此，无人机位置调整结束。
  6. 根据权利要求3所述的基于太阳能供电的无人机自主起降换电池的能源自治基站，其特征在于：自动换电池流程下，环形升降平台降至进行无人机换电池操作的高度后，电动机械爪开始移动，待电动机械爪移动至无人机电池仓上方后，环形升降平台上升；环形升降平台升至无人机电池可以被电动机械爪抓紧的高度后停止上升吗，电动机械爪夹紧，完成抓取电池操作，而后环伸缩杆缩短驱动环形升降平台下降；待环形升降平台降至无人机与电池完全分离后，电动机械爪带着抓取的电池移动至可升降电池仓上方，电池仓升降杆伸长，使电池仓升高；电池完全进入电池仓后，电动机械爪松开电池，电池仓升降杆缩短，电池仓下降；待电池仓降至预定高度后，电动机械爪移至新电池上方，而后电池仓升降杆伸长，电池仓再次上升；待电池仓升至新电池可以被电动机械爪抓紧的高度后停止上升，电动机械爪抓取新电池；而后电池仓升降杆缩短，电池仓下降至原位；紧接着电动机械爪移动至无人机电池仓上方；电动机械爪就位后，环伸缩杆伸长驱动环形升降平台上升；电池完全进入电池仓后，电动机械爪松开电池，环伸缩杆缩短；环形升降平台降至预定高度后，电动机械爪归位，自动换电池流程结束。
  7. 根据权利要求3所述的基于太阳能供电的无人机自主起降换电池的能源自治基站，其特征在于：无人机放飞及系统复位流程如下，环伸缩杆伸长，驱动环形升降平台上升；环形升降平台上升至与基站框架上沿持平后，无人机即可起 飞；无人机起飞后，环伸缩杆缩短驱动环形升降平台归位；环形升降平台归位后，太阳能板翻转电机驱动太阳能板归位；太阳能板归位后，太阳能板翻转电机和太阳能板支架驱动电机开始工作，使太阳能板恢复正常工作状态。
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