CN107140225B - Automatic charging device and method for multi-rotor unmanned aerial vehicle - Google Patents
Automatic charging device and method for multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN107140225B CN107140225B CN201710265155.1A CN201710265155A CN107140225B CN 107140225 B CN107140225 B CN 107140225B CN 201710265155 A CN201710265155 A CN 201710265155A CN 107140225 B CN107140225 B CN 107140225B
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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
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- 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
- B60L53/10—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 characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
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- 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
- B60L53/30—Constructional details of charging stations
-
- 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
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- 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
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- 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
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- 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
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- 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
- Y02T90/14—Plug-in electric vehicles
-
- 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
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides an automatic charging device and method for a multi-rotor unmanned aerial vehicle, wherein the device comprises a carrying trolley used for conveying the multi-rotor unmanned aerial vehicle in a charging area, an unmanned aerial vehicle take-off and landing plate horizontally arranged at the center of the charging area, a charging assembly arranged at the edge of the charging area and used for charging the multi-rotor unmanned aerial vehicle, and a control assembly respectively in communication connection with the carrying trolley, the unmanned aerial vehicle take-off and landing plate and the charging assembly; be equipped with push rod assembly on the unmanned aerial vehicle board that takes off and land, and push rod assembly is used for promoting the many rotor unmanned aerial vehicle that will stop on the unmanned aerial vehicle board that takes off and land to the carrying trolley on and drags many rotor unmanned aerial vehicle to the unmanned aerial vehicle board that takes off and land from the carrying trolley on. The device and the method have high intelligent degree, the structure of the device is reliable, and the multi-rotor unmanned aerial vehicle can be automatically charged quickly and efficiently, so that the cruising ability of the multi-rotor unmanned aerial vehicle is effectively improved, and the operation and the working efficiency of the multi-rotor unmanned aerial vehicle are ensured.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle charging, in particular to an automatic charging device and method for a multi-rotor unmanned aerial vehicle.
Background
In recent years, thanks to the rapid development of microelectronics and computer technologies, the multi-rotor unmanned aerial vehicle technology has a great progress, is widely applied to multiple fields such as military, industry and agriculture, civil use and the like, and plays an important role in multiple application fields such as investigation and exploration, disaster prevention and rescue, agricultural plant protection, aerial shooting and the like.
At present, the multi-rotor unmanned aerial vehicle generally adopts a lithium battery for power supply, the problem of short cruising ability exists, and the problem restricts the sailing range of the multi-rotor unmanned aerial vehicle and the development of the multi-rotor unmanned aerial vehicle.
Therefore, how to improve the endurance of the multi-rotor unmanned aerial vehicle is a problem to be solved urgently in the field.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the automatic charging device and the automatic charging method for the multi-rotor unmanned aerial vehicle, the device and the method have high intelligent degree, the structure of the device is reliable, the multi-rotor unmanned aerial vehicle can be quickly and efficiently and automatically charged, the reliability of the process of charging the unmanned aerial vehicle is high, the application range is wide, the cruising ability of the multi-rotor unmanned aerial vehicle is effectively improved, and the operation and the working efficiency of the multi-rotor unmanned aerial vehicle are ensured.
In order to solve the technical problems, the invention provides the following technical scheme:
in one aspect, the present invention provides an automatic charging device for a multi-rotor drone, the device comprising: the system comprises a carrying trolley, an unmanned aerial vehicle landing board, a charging assembly and a control assembly, wherein the carrying trolley is placed in a charging area and used for conveying the multi-rotor unmanned aerial vehicle, the unmanned aerial vehicle landing board is horizontally arranged at the center of the charging area, the charging assembly is arranged at the edge of the charging area and used for charging the multi-rotor unmanned aerial vehicle conveyed by the carrying trolley, and the control assembly is respectively in communication connection with the carrying trolley, the unmanned aerial vehicle landing board and the charging assembly;
be equipped with push rod assembly on the unmanned aerial vehicle board of taking off and land, just push rod assembly is used for stopping many rotor unmanned aerial vehicle on the unmanned aerial vehicle board of taking off and land promote extremely on the carrying trolley, and/or, will many rotor unmanned aerial vehicle follow the carrying trolley is pulled up and is dragged extremely on the unmanned aerial vehicle board of taking off and land.
Further, the carrying trolley comprises: the multi-rotor unmanned aerial vehicle comprises a vehicle body, a lifting platform which is horizontally arranged at the top end of the vehicle body and is used for bearing the multi-rotor unmanned aerial vehicle, and a motor which is arranged in the vehicle body and is connected with the lifting platform;
the initial height of the lifting platform is lower than or equal to the height of the unmanned aerial vehicle take-off and landing board.
Further, unmanned aerial vehicle take-off and landing board still includes: the system comprises a motor arranged at the bottom of an unmanned aerial vehicle take-off and landing plate, a landing mark arranged at the center of the top surface of the unmanned aerial vehicle take-off and landing plate, and an inclined baffle arranged on one side of the top surface of the unmanned aerial vehicle take-off and landing plate;
the motor with control assembly communication connection, just the motor with push rod assembly connects.
Further, the push rod assembly includes: the two guide rails are arranged on two sides of the unmanned aerial vehicle take-off and landing plate in parallel, and the push rod is horizontally arranged between the two guide rails and is perpendicular to the two guide rails;
the push rod with the motor is connected, just the bottom at the both ends of push rod be equipped with guide rail complex slider makes the push rod moves along the length direction of guide rail.
Furthermore, at least one hook is arranged on the push rod and is connected with the motor;
the center of the fixed end of the hook is connected with the push rod through a vertical shaft, so that the hooking end of the hook rotates around the vertical shaft.
Further, the charging assembly includes: the setting is being close to the charging unit of the edge in the charging region, and, set up the charging unit with between the unmanned aerial vehicle take off and land board and be close to the locating rack of the position department of charging unit.
Further, the charging unit is including the fixed motor that sets up, and, with the motor is connected and with many rotor unmanned aerial vehicle's the flexible charging plug that the mouth structure that charges corresponds.
Further, the spacer includes: two vertical mounts of placing to and, set up at the top both ends of every mount and be used for the location many rotor unmanned aerial vehicle's the terminal guide block of frame.
Further, the control assembly includes: the sensor is respectively arranged on the carrying trolley, the unmanned aerial vehicle take-off and landing plate and the charging assembly, and the processor is in communication connection with the sensor;
wherein, the sensor arranged on the carrying trolley is a tracking unit;
and each sensor is respectively in communication connection with the motor on the part where the sensor is positioned.
In another aspect, the present invention further provides an automatic charging method for a multi-rotor drone, where the automatic charging device is applied, the method including:
after the multi-rotor unmanned aerial vehicle lands on the unmanned aerial vehicle landing panel, the unmanned aerial vehicle landing panel sends landing information to the control assembly, and the control assembly controls the push rod assembly to push the multi-rotor unmanned aerial vehicle to the carrying trolley parked on the unmanned aerial vehicle landing panel side according to the received landing information;
the carrying trolley runs in a tracking mode according to the received conveying instruction sent by the control assembly and automatically judges the charging assembly; determining whether the current charging assembly is occupied in a counting mode;
after the carrying trolley approaches to the idle charging assembly, the carrying trolley fixes the multi-rotor unmanned aerial vehicle in the charging assembly, sends in-place information to the control assembly and then returns to the unmanned aerial vehicle take-off and landing panel side for standby;
the control assembly sends a charging instruction to the charging assembly according to the received in-place information, and the charging assembly charges the multi-rotor unmanned aerial vehicle according to the charging instruction;
stopping charging when the charging assembly detects that the battery of the multi-rotor unmanned aerial vehicle reaches a cut-off voltage, sending position information to a carrying trolley, enabling the carrying trolley to reach the charging assembly in a tracking mode, unloading the multi-rotor unmanned aerial vehicle from the charging assembly, and then transporting the multi-rotor unmanned aerial vehicle back to the landing board side of the unmanned aerial vehicle;
and a push rod component on the unmanned aerial vehicle take-off and landing plate is used for dragging the multi-rotor unmanned aerial vehicle to the unmanned aerial vehicle take-off and landing panel by means of upward pulling of the carrying trolley, and the charging process of the multi-rotor unmanned aerial vehicle is completed.
According to the technical scheme, the automatic charging device and the automatic charging method for the multi-rotor unmanned aerial vehicle comprise a carrying trolley used for conveying the multi-rotor unmanned aerial vehicle in a charging area, an unmanned aerial vehicle take-off and landing plate horizontally arranged at the center of the charging area, a charging assembly arranged at the edge of the charging area and used for charging the multi-rotor unmanned aerial vehicle, and a control assembly in communication connection with the carrying trolley, the unmanned aerial vehicle take-off and landing plate and the charging assembly respectively; be equipped with push rod assembly on the unmanned aerial vehicle board that takes off and land, and push rod assembly is used for promoting the many rotor unmanned aerial vehicle that will stop on the unmanned aerial vehicle board that takes off and land to the carrying trolley on and drags many rotor unmanned aerial vehicle to the unmanned aerial vehicle board that takes off and land from the carrying trolley on. The device and the method have high intelligent degree, the structure of the device is reliable, and the multi-rotor unmanned aerial vehicle can be automatically charged quickly and efficiently, so that the cruising ability of the multi-rotor unmanned aerial vehicle is effectively improved, and the operation and the working efficiency of the multi-rotor unmanned aerial vehicle are ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an automatic charging device of a multi-rotor drone according to the present invention.
Fig. 2 is a schematic structural view of the carrying cart 1 in the automatic charging apparatus of the present invention.
Fig. 3 is a schematic structural diagram of the unmanned aerial vehicle take-off and landing board 2 in the automatic charging device of the present invention.
Fig. 4 is a schematic structural diagram of the charging assembly 3 in the automatic charging device of the present invention.
Fig. 5 is a schematic structural diagram of the control unit 18 in the automatic charging device of the present invention.
Fig. 6 is a schematic structural diagram of the retractable charging plug 22 and a charging port on a multi-rotor drone in an application example of the present invention.
Fig. 7 is a schematic flow chart of an automatic charging method for a multi-rotor drone according to the present invention.
Wherein, 1, carrying the trolley; 2-unmanned plane take-off and landing board; 3-a charging assembly; 4-lifting the platform; 5-a restriction groove; 6-auxiliary wheel; 7-a motor; 8-a guide wheel; 9-vertical rod; 10-a tracking unit; 11-universal wheels; 12-a wheel; 13-a vehicle body; 14-hanging hooks; 15-a push rod; 16-a guide rail; 17-inclined baffles; 18-a control assembly; 19-a positioning frame; 20-a pushrod assembly; 21-a guide block; 22-telescopic charging plug; 23-a charging unit; 24-fixing frame.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a specific implementation mode of an automatic charging device of a multi-rotor unmanned aerial vehicle, and referring to fig. 1, the automatic charging device specifically comprises the following contents:
the unmanned aerial vehicle charging system comprises a carrying trolley 1 placed in a charging area and used for conveying the multi-rotor unmanned aerial vehicle, an unmanned aerial vehicle take-off and landing board 2 horizontally arranged at the center of the charging area, a charging assembly 3 arranged at the edge of the charging area and used for charging the multi-rotor unmanned aerial vehicle conveyed by the carrying trolley 1, and a control assembly 18 which is not shown in figure 1 and is respectively in communication connection with the carrying trolley 1, the unmanned aerial vehicle take-off and landing board 2 and the charging assembly 3; be equipped with push rod assembly 20 on unmanned aerial vehicle take-off and landing board 2, just push rod assembly 20 is used for stopping many rotor unmanned aerial vehicle on the unmanned aerial vehicle take-off and landing board 2 promote extremely on the carrying trolley 1, and/or, will many rotor unmanned aerial vehicle follow 1 pull-up of carrying trolley drags extremely on the unmanned aerial vehicle take-off and landing board 2.
In the above description, the number of the charging assemblies 3 is set according to the practical application, the settable interval is between 1 and 100, the number of the carrying trolleys 1 can also be set between 1 and 10 according to the practical application, and the push rod assemblies 20 are arranged on the unmanned aerial vehicle take-off and landing plate 2; the push rod assembly 20 moves horizontally relative to the unmanned aerial vehicle take-off and landing plate 2, and the push rod assembly 20 can hook a foot rest of the multi-rotor unmanned aerial vehicle so as to pull the multi-rotor unmanned aerial vehicle to move towards the inside of the unmanned aerial vehicle take-off and landing plate 2; the carrying trolley 1 stops at the outer side of the unmanned aerial vehicle landing board 2 and is used for carrying the multi-rotor unmanned aerial vehicle pushed by the push rod assembly 20 to the charging assembly 3; the charging assembly 3 is used for fixing the multi-rotor unmanned aerial vehicle to be charged and automatically charging the multi-rotor unmanned aerial vehicle; the control assembly 18 is responsible for detecting whether there are multi-rotor drones on the drone landing board 2, whether the launch vehicle 1 has parked at a designated location and has detected the entire device, and is responsible for data communication between the devices at the same time.
From the above description, the device in the embodiment of the invention has high degree of intelligence and reliable structure, realizes quick and efficient automatic charging of the multi-rotor unmanned aerial vehicle, and has high reliability and wide application range in the process of charging the unmanned aerial vehicle.
The second embodiment of the present invention discloses a specific implementation manner of the carrying trolley 1 in the automatic charging device, and referring to fig. 2, the carrying trolley 1 specifically includes the following components:
the multi-rotor unmanned aerial vehicle comprises a vehicle body 13, a lifting platform 4 which is horizontally arranged at the top end of the vehicle body 13 and is used for bearing the multi-rotor unmanned aerial vehicle, and a motor 7 which is arranged inside the vehicle body 13 and is connected with the lifting platform 4; the initial height of the lifting platform 4 is lower than or equal to the height of the unmanned aerial vehicle take-off and landing board 2.
In the above description, the vehicle body 13 is composed of the guide wheel 8, the vertical rod 9, the universal wheel 11 and the wheel 12, and the tracking unit 10 of one of the sensors is mounted on the carrying trolley 1, and the tracking unit 10 employs a CCD tracking module.
As can be seen from the above description, the embodiment of the invention can quickly and accurately transport the multi-rotor unmanned aerial vehicle stopped on the unmanned aerial vehicle landing board 2 to the charging assembly, thereby ensuring the charging efficiency of the multi-rotor unmanned aerial vehicle.
The third embodiment of the present invention discloses a specific implementation manner of the unmanned aerial vehicle take-off and landing board 2 in the automatic charging device, and referring to fig. 3, the unmanned aerial vehicle take-off and landing board 2 specifically includes the following contents:
the unmanned aerial vehicle landing device comprises a motor 7 arranged at the bottom of the unmanned aerial vehicle landing board 2, a landing mark arranged at the center of the top surface of the unmanned aerial vehicle landing board 2, and an inclined baffle 17 arranged on one side of the top surface of the unmanned aerial vehicle landing board 2; the motor 7 is in communication connection with the control assembly 18, and the motor 7 is connected with the push rod assembly 20; the two guide rails 16 are arranged on the two sides of the unmanned aerial vehicle take-off and landing board 2 in parallel, and the push rod 15 is horizontally arranged between the two guide rails 16 and is perpendicular to the two guide rails 16; the push rod 15 is connected with the motor 7, and sliding parts matched with the guide rails 16 are arranged at the bottoms of the two ends of the push rod 15, so that the push rod 15 moves along the length direction of the guide rails 16; the push rod 15 is provided with at least one hook 14, and the hook 14 is connected with the motor 7; the center of the fixed end of the hook 14 is connected to the push rod 15 with a vertical shaft so that the hooking end of the hook 14 rotates around the vertical shaft.
In the above description, the push rod assembly 20 includes a push rod 15, a hook 14, a motor 7, and an inclined baffle 17, where the two motors 7 may be provided, and one of the two motors is connected with the hook 14 to directly drive the hook 14 to rotate relative to the push rod 15; the other end is connected with a push rod 15, the push rod 15 is pushed to do translational motion relative to the panel main body, and the hook 14 and the push rod 15 are arranged in a rotating mode. The motor 7 drives the push rod 15 to horizontally move relative to the unmanned aerial vehicle take-off and landing plate 2, the hook 14 is driven by the motor 7 to rotate and can hook a foot rest of the multi-rotor unmanned aerial vehicle, and the push rod 15 can pull the multi-rotor unmanned aerial vehicle to move towards the inside of the unmanned aerial vehicle take-off and landing plate 2; the carrying trolley 1 is parked outside the unmanned aerial vehicle take-off and landing plate 2 and used for parking the multi-rotor unmanned aerial vehicle pushed by the push rod 15 to the charging assembly 3.
As can be seen from the above description, the embodiment of the present invention ensures accurate parking and movement of the multi-rotor unmanned aerial vehicle, and provides an effective structural basis for realizing fast and efficient automatic charging of the multi-rotor unmanned aerial vehicle.
The fourth embodiment of the present invention discloses a specific implementation manner of the charging assembly 3 in the automatic charging device, and referring to fig. 4, the charging assembly 3 specifically includes the following contents:
a charging unit 23 disposed at an edge near the charging area, and a positioning frame 19 disposed between the charging unit 23 and the unmanned aerial vehicle take-off and landing panel 2 at a position near the charging unit 23; the charging unit 23 comprises a motor 7 fixedly arranged and a telescopic charging plug 22 connected with the motor 7 and corresponding to the charging port structure of the multi-rotor unmanned aerial vehicle; the positioning frame 19 includes: two vertical mounts 24 of placing to, set up at the top both ends of every mount 24 and be used for fixing a position guide block 21 at many rotor unmanned aerial vehicle's the terminal frame.
In the above description, the subassembly 3 that charges includes locating rack 19 and flexible charging plug 22, and locating rack 19 is used for the position of fixed many rotor unmanned aerial vehicle when charging, and flexible charging plug 22 is horizontal motion and inserts the interface that charges on many rotor unmanned aerial vehicle by the drive of motor 7 and inside for many rotor unmanned aerial vehicle carries out automatic charging.
From the above description, the embodiment of the invention realizes the quick and efficient automatic charging of the multi-rotor unmanned aerial vehicle, and the unmanned aerial vehicle charging process has high reliability and wide application range, so that the cruising ability of the multi-rotor unmanned aerial vehicle is effectively improved, and the operation and working efficiency of the multi-rotor unmanned aerial vehicle are ensured.
An embodiment of the present invention fifth discloses a specific implementation manner of the control component 18 in the automatic charging device, and referring to fig. 5, the control component 18 specifically includes the following contents:
the system comprises sensors and a processor, wherein the sensors are respectively arranged on the carrying trolley 1, the unmanned aerial vehicle take-off and landing board 2 and the charging assembly 3; wherein, the sensor arranged on the carrying trolley is a tracking unit; each sensor is respectively connected with the motor 7 on the part where the sensor is positioned in a communication way.
In the above description, the control assembly 18 includes a processor and sensors, and is responsible for detecting whether there are multi-rotor drones on the drone landing board 2, whether the carriage 1 is parked at a designated location, and monitoring the entire apparatus.
As can be seen from the above description, the embodiments of the present invention ensure the intellectualization and charging efficiency of the automatic charging process for a multi-rotor drone.
For further illustration of the present solution, the invention further provides an application example of an automatic charging device for a multi-rotor unmanned aerial vehicle, and the automatic charging device specifically includes the following contents with reference to fig. 1 to 5:
unmanned aerial vehicle take-off and landing board 2, push rod subassembly 20, carrying trolley 1, charging assembly 3, control assembly 18 and communication assembly. The push rod assembly 20 comprises a push rod 15 with a hook 14 and a motor 7, the push rod 15 is installed on the unmanned aerial vehicle take-off and landing plate 2, the motor 7 drives the push rod 15 to horizontally move relative to the unmanned aerial vehicle take-off and landing plate 2, the hook 14 is driven by the motor 7 to rotate and can hook a multi-rotor unmanned aerial vehicle foot stand, and the push rod 15 can pull the multi-rotor unmanned aerial vehicle to move towards the inside of the unmanned aerial vehicle take-off and landing plate 2; the carrying trolley 1 stops at the outer side of the unmanned aerial vehicle take-off and landing plate 2 and is used for parking the multi-rotor unmanned aerial vehicle pushed by the push rod 15 to the charging assembly 3; the charging assembly 3 comprises a positioning frame 19 and a telescopic charging plug 22, the positioning frame 19 is used for fixing the position of the multi-rotor unmanned aerial vehicle during charging, and the telescopic charging plug 22 is driven by the motor 7 to move horizontally and is inserted into a charging interface on the multi-rotor unmanned aerial vehicle to perform autonomous charging on the multi-rotor unmanned aerial vehicle; control assembly 18 includes a processor and sensors responsible for detecting whether there are multi-rotor drones on the drone landing board 2, whether the launch vehicle 1 has docked to a designated location and monitored the entire device. Unmanned aerial vehicle take-off and land board 2 includes the panel main part, the spraying has the descending sign that supplies many rotor unmanned aerial vehicle to independently descend in the panel main part, and push rod subassembly 20 is fixed in the panel main part. The push rod assembly 20 comprises a push rod 15, a hook 14, a motor 7 and a motor 7, the hook 14 and the push rod 15 are arranged in a rotating mode, the motor 7 directly pushes the push rod 15 to do translational motion relative to the panel main body, and the motor 7 directly drives the hook 14 to rotate relative to the push rod 15. The carrying trolley 1 comprises a trolley body 13, a lifting platform 4 and a motor 7, wherein the lifting platform 4 is fixed on the carrying trolley 1, and the motor 7 drives the lifting platform 4 to do lifting motion. The charging assembly 3 comprises a positioning frame 19, a telescopic charging plug 22 and a motor 7, and the motor 7 directly drives the telescopic charging plug 22 to move horizontally relative to the positioning frame 19. The structure of the telescopic charging plug 22 and the charging port on the multi-rotor unmanned aerial vehicle is shown in fig. 6, the positioning frame 19 comprises a fixing frame 24 and a guiding block 21, and the guiding block 21 is installed on the fixing frame 24. The control component 18 comprises a processor and a tracking unit 10, wherein the processor is arranged in the panel main body, and the tracking unit 10 is arranged on the carrying trolley 1; the wireless communication subassembly includes the wireless communication antenna, and the wireless communication antenna is installed inside unmanned aerial vehicle take off and land board 2, links to each other with the treater.
From the above description, the application example of the invention realizes the fast and efficient automatic charging of the multi-rotor unmanned aerial vehicle, effectively improves the endurance of the multi-rotor unmanned aerial vehicle, and saves money and labor cost.
The sixth embodiment of the invention discloses a specific implementation method for performing an automatic charging method of a multi-rotor unmanned aerial vehicle by using the automatic charging device, and referring to fig. 7, the automatic charging method specifically comprises the following steps:
step 100: after the multi-rotor unmanned aerial vehicle lands on the unmanned aerial vehicle landing panel, the unmanned aerial vehicle landing panel sends landing information to the control assembly, and the control assembly controls the push rod assembly to push the multi-rotor unmanned aerial vehicle to stop on the carrying trolley on the unmanned aerial vehicle landing panel side according to the received landing information.
Step 200: the carrying trolley runs in a tracking mode according to the received conveying instruction sent by the control assembly and automatically judges the charging assembly; and determines whether the current charging assembly is occupied in a counting manner.
Step 300: after the carrying trolley is close to the idle charging assembly, the carrying trolley fixes the multi-rotor unmanned aerial vehicle in the charging assembly, sends the in-position information to the control assembly and then returns to the unmanned aerial vehicle take-off and landing panel side for standby.
Step 400: the control assembly sends a charging instruction to the charging assembly according to the received in-place information, and the charging assembly charges the multi-rotor unmanned aerial vehicle according to the charging instruction.
Step 500: when the charging assembly detects that the battery of the multi-rotor unmanned aerial vehicle reaches the cut-off voltage, the charging is stopped, position information is sent to the carrying trolley, the carrying trolley arrives at the position of the charging assembly in a tracking mode, and the multi-rotor unmanned aerial vehicle is transported back to the unmanned aerial vehicle landing board side after being unloaded from the charging assembly.
Step 600: push rod assembly on the unmanned aerial vehicle take off and land board will many rotor unmanned aerial vehicle certainly the carrying trolley pull-up drags extremely on the unmanned aerial vehicle takes off and land the panel, it is right to accomplish many rotor unmanned aerial vehicle's charging process.
From the above description, the method of the invention realizes the fast and efficient automatic charging of the multi-rotor unmanned aerial vehicle, and the unmanned aerial vehicle charging process has high reliability and wide application range, thereby effectively improving the cruising ability of the multi-rotor unmanned aerial vehicle and ensuring the operation and working efficiency of the multi-rotor unmanned aerial vehicle.
For further explaining the scheme, the invention also provides an application example of the automatic charging method of the multi-rotor unmanned aerial vehicle, and the automatic charging method specifically comprises the following contents:
treat that many rotor unmanned aerial vehicle that the descending charges descend to charging device's unmanned aerial vehicle take off and land board 2 according to the descending sign that the spraying supplied many rotor unmanned aerial vehicle to independently descend on unmanned aerial vehicle take off and land board 2. After many rotor unmanned aerial vehicle fall, send the descending message to the treater through the wireless communication subassembly. After the treater received the message, control motor 7 drive push rod 15 carries out the horizontal motion for unmanned aerial vehicle take off and land board 2, pushes away many rotor unmanned aerial vehicle to berth on the carrying trolley 1 in the unmanned aerial vehicle take off and land board 2 outsides. Wherein, install the slope baffle 17 on unmanned aerial vehicle take-off and landing board 2 can be at many rotor unmanned aerial vehicle's of the in-process adjustment gesture of many rotor unmanned aerial vehicle horizontal motion, ensure that many rotor unmanned aerial vehicle is pushed to the lift platform 4 of carrying trolley 1 by the accuracy on.
When the push rod 15 completely pushes the multi-rotor unmanned aerial vehicle to the lifting platform 4 of the carrying trolley 1, the processor informs the carrying trolley 1 of starting to work through the wireless communication component. The carrying trolley 1 runs in a CCD tracking mode through the carried tracking module and automatically judges the target positioning frame 19, and whether the positioning frame 19 is provided with the multi-rotor unmanned aerial vehicle or not is determined in a counting mode. After being close to target locating rack 19, motor 7 drive lift platform 4 risees, holds up many rotor unmanned aerial vehicle, and the tracking that resumes gets into locating rack 19 again. The tracking module is used for searching the end point of the tracking line and stopping, when the carrying trolley 1 moves to a specified position, the carrying trolley stops moving, and meanwhile the motor 7 drives the lifting platform 4 to lower. After the lifting platform 4 is lowered, the tail end of the frame of the rotor wing multi-rotor unmanned aerial vehicle is clamped into the positioning hole of the positioning frame 19. Lifting platform 4 descends to minimum back, and carrying trolley 1 sends many rotor unmanned aerial vehicle to the treater and reachs the message of locating rack 19 through wireless communication module, and after the treater received the message, to appointed locating rack 19 delivery instruction, the flexible charging plug 22 of motor 7 drive begins to descend, inserts many rotor unmanned aerial vehicle's charging socket, and the work of beginning is filled in the balance simultaneously, charges for many rotor unmanned aerial vehicle.
The carrying trolley 1 starts to turn around, returns along the original path tracking, stops at the edge of the unmanned aerial vehicle take-off and landing plate 2, and waits for the next multi-rotor unmanned aerial vehicle to land or the signal of the charging end of the existing multi-rotor unmanned aerial vehicle.
After many rotor unmanned aerial vehicle were full of the electricity, the subassembly 3 that charges of locating rack 19 detected that the battery reaches cutoff voltage, stopped charging, and the flexible charging plug 22 of motor 7 drive rises. Simultaneously send corresponding locating rack 19 serial numbers to carrying trolley 1 through wireless communication module, carrying trolley 1 reachs appointed locating rack 19 department through CCD tracking to berth under many rotor unmanned aerial vehicle. The motor 7 drives the lifting platform 4 on the carrying trolley 1 to lift up, and the multi-rotor unmanned aerial vehicle is supported from the positioning frame 19. The carriage 1 is then pushed out of the positioning frame 19, turned around, and returned to the side of the unmanned aerial vehicle take-off and landing board 2 along a trajectory.
After the carrying trolley 1 stops at the side of the unmanned aerial vehicle take-off and landing board 2, the motor 7 drives the lifting platform 4 on the carrying trolley 1 to ascend to the highest position and be flush with the unmanned aerial vehicle take-off and landing board 2, meanwhile, the carrying trolley 1 sends a signal to the unmanned aerial vehicle take-off and landing board 2 through the wireless communication module, and the motor 7 drives the push rod 15 to move to the side of the carrying trolley 1. The motor 7 drives the hook 14 on the push rod 15 to hook two foot rests of the multi-rotor unmanned aerial vehicle. Then motor 7 drive push rod 15 reverse motion, with many rotor unmanned aerial vehicle draw to unmanned aerial vehicle take off and land board 2 central authorities, push rod 15 motion of pausing simultaneously. Motor 7 drive couple 14 returns, makes many rotor unmanned aerial vehicle stop in unmanned aerial vehicle take off and land board 2 central authorities. Push rod 15 continues to move until initial position, and many rotor unmanned aerial vehicle take off at many rotor unmanned aerial vehicle take off and land platform central authorities that do not have the barrier interference.
From the above description, the application example of the invention realizes the fast and efficient automatic charging of the multi-rotor unmanned aerial vehicle, effectively improves the endurance of the multi-rotor unmanned aerial vehicle, and saves money and labor cost.
The above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. The utility model provides a many rotor unmanned aerial vehicle's automatic charging device, its characterized in that, the device includes: the system comprises a carrying trolley, an unmanned aerial vehicle landing board, a charging assembly and a control assembly, wherein the carrying trolley is placed in a charging area and used for conveying the multi-rotor unmanned aerial vehicle, the unmanned aerial vehicle landing board is horizontally arranged at the center of the charging area, the charging assembly is arranged at the edge of the charging area and used for charging the multi-rotor unmanned aerial vehicle conveyed by the carrying trolley, and the control assembly is respectively in communication connection with the carrying trolley, the unmanned aerial vehicle landing board and the charging assembly;
a push rod assembly is arranged on the unmanned aerial vehicle take-off and landing plate and is used for pushing the multi-rotor unmanned aerial vehicle stopped on the unmanned aerial vehicle take-off and landing plate onto the carrying trolley and/or pulling the multi-rotor unmanned aerial vehicle from the carrying trolley onto the unmanned aerial vehicle take-off and landing plate;
wherein, the carrying trolley comprises: the multi-rotor unmanned aerial vehicle comprises a vehicle body, a lifting platform which is horizontally arranged at the top end of the vehicle body and is used for bearing the multi-rotor unmanned aerial vehicle, and a first motor which is arranged in the vehicle body and is connected with the lifting platform;
the initial height of the lifting platform is lower than or equal to the height of the unmanned aerial vehicle take-off and landing board;
wherein, unmanned aerial vehicle take-off and landing board still includes: the second motor is arranged at the bottom of the unmanned aerial vehicle take-off and landing plate, the landing mark is arranged at the center of the top surface of the unmanned aerial vehicle take-off and landing plate, and the inclined baffle is arranged on one side of the top surface of the unmanned aerial vehicle take-off and landing plate;
the second motor is in communication connection with the control assembly and is connected with the push rod assembly;
wherein the push rod assembly includes: the two guide rails are arranged on two sides of the unmanned aerial vehicle take-off and landing plate in parallel, and the push rod is horizontally arranged between the two guide rails and is perpendicular to the two guide rails;
the push rod is connected with the second motor, and sliding parts matched with the guide rails are arranged at the bottoms of the two ends of the push rod, so that the push rod moves along the length direction of the guide rails;
the push rod is provided with at least one hook, and the hook is connected with the second motor;
the center of the fixed end of the hook is connected with the push rod through a vertical shaft, so that the hooking end of the hook rotates around the vertical shaft.
2. The apparatus of claim 1, wherein the charging assembly comprises: the setting is being close to the charging unit of the edge in the charging region, and, set up the charging unit with between the unmanned aerial vehicle take off and land board and be close to the locating rack of the position department of charging unit.
3. The device of claim 2, wherein the charging unit comprises a fixedly disposed third motor, and a retractable charging plug connected to the third motor and corresponding to the charging port structure of the multi-rotor drone.
4. The apparatus of claim 2, wherein the spacer comprises: two vertical mounts of placing to and, set up at the top both ends of every mount and be used for the location many rotor unmanned aerial vehicle's the terminal guide block of frame.
5. The apparatus of claim 1 or 3, wherein the control assembly comprises: the sensor is respectively arranged on the carrying trolley, the unmanned aerial vehicle take-off and landing plate and the charging assembly, and the processor is in communication connection with the sensor;
wherein, the sensor arranged on the carrying trolley is a tracking unit;
and each sensor is in communication connection with the first motor, the second motor and the third motor on the part where the sensor is located.
6. An automatic charging method of a multi-rotor unmanned aerial vehicle to which the automatic charging apparatus according to any one of claims 1 to 4 is applied, the method comprising:
after the multi-rotor unmanned aerial vehicle lands on the unmanned aerial vehicle landing board, the unmanned aerial vehicle landing board sends landing information to the control assembly, and the control assembly controls the push rod assembly to push the multi-rotor unmanned aerial vehicle to the carrying trolley parked on the unmanned aerial vehicle landing board side according to the received landing information;
the carrying trolley runs in a tracking mode according to the received conveying instruction sent by the control assembly and automatically judges the charging assembly; determining whether the current charging assembly is occupied in a counting mode;
after the carrying trolley approaches to the idle charging assembly, the carrying trolley fixes the multi-rotor unmanned aerial vehicle in the charging assembly, sends positioning information to the control assembly and then returns to the landing board side of the unmanned aerial vehicle for standby;
the control assembly sends a charging instruction to the charging assembly according to the received in-place information, and the charging assembly charges the multi-rotor unmanned aerial vehicle according to the charging instruction;
stopping charging when the charging assembly detects that the battery of the multi-rotor unmanned aerial vehicle reaches a cut-off voltage, sending position information to a carrying trolley, enabling the carrying trolley to reach the charging assembly in a tracking mode, unloading the multi-rotor unmanned aerial vehicle from the charging assembly, and then transporting the multi-rotor unmanned aerial vehicle back to the landing board side of the unmanned aerial vehicle;
and a push rod component on the unmanned aerial vehicle take-off and landing plate is used for dragging the multi-rotor unmanned aerial vehicle to the unmanned aerial vehicle take-off and landing plate by pulling up the carrying trolley, and the charging process of the multi-rotor unmanned aerial vehicle is completed.
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