CN108516080A - Air-ground coordination dynamic docking facilities - Google Patents
Air-ground coordination dynamic docking facilities Download PDFInfo
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- CN108516080A CN108516080A CN201810272694.2A CN201810272694A CN108516080A CN 108516080 A CN108516080 A CN 108516080A CN 201810272694 A CN201810272694 A CN 201810272694A CN 108516080 A CN108516080 A CN 108516080A
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 17
- 230000003028 elevating effect Effects 0.000 claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 13
- 238000012946 outsourcing Methods 0.000 claims description 3
- 238000004064 recycling Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241001515806 Stictis Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/68—Arrester hooks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
-
- 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
- B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/86—Land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Remote Sensing (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of air-ground coordination dynamic docking facilities.The apparatus structure is as follows：Airborne device includes electric retractable undercarriage, pulling force sensor, electric capstan and multi-functional hook lock, multi-functional hook lock is wrapped in by traction rope on electric capstan, pulling force sensor is fixed on electric capstan below airborne device, and pulling force sensor is used to detect the stressing conditions of electric capstan；Car-mounted device is in cylinder and is set to the top of car body, cylinder upper surface opens up a plurality of gap along radius, connected by limiting cylindrical wall between adjacent gap, one group of lift servo mechanism is set in every gap, and every group of lift servo mechanism includes elevating rocker arm, steering engine, sliding block and the linear guide；Elevating rocker arm one end is connected through the hinge with taper padlock, the rocking arm of the other end and steering engine is connect, and steering engine is connect with sliding block, and sliding block can move in the linear guide；Gap is swung up and down for elevating rocker arm.The present invention is suitable for air-ground unmanned platform, being capable of dynamic quick release and recycling unmanned plane.
Description
One, technical field
The present invention relates to unmanned planes, and docking technique field is cooperateed with vehicle, and especially a kind of air-ground coordination dynamic is to tipping
It sets.
Two, background technology
With the maturation of UAV Flight Control System and enriching for perception means, the application based on unmanned plane has obtained pole
Big expansion, the heterogeneous system that unmanned plane is cooperateed with vehicle have great development potentiality as a novel concept, for
Air-ground dynamic cooperation docks this key technology, and all big enterprises are also attempted constantly.
In New Delhi car exhibition in 2 months in 2014, RJ Reynolds Tobacco Holdings ,Inc. has issued a KWID concept cars first, and usually folding and unfolding is in vehicle
Top, by lower button lift-off operation, though only concept level, the importance innovated in this respect have some idea of.CES (world consumption
Electronic product exhibition) expansion of 2016 Ford and big boundary cooperates, builds surface car and communicate collaborative framework with unmanned plane, emphatically
Data and analysis, but feasible stable scheme is not provided with regard to the autonomous landing problem of unmanned plane.In January, 2016, Germany's boat
Visual pursuit QR labels and the big net with elasticity are installed on vehicle top by one research team of empty space center, complete to fix
The independent landing of the wing, but can not complete independently to take off, there is certain limitation.Geneva Auto Show in 2017, Land Rover release vehicle
Volume production vehicle-discovery SOV editions of unmanned plane is carried, landing of the unmanned plane in roof can be completed during quasi-static, but should
System can not adapt to more complicated operating mode.Coming into operation for UPS unmanned plane express delivery vehicles greatlys save express delivery distribution cost, especially
In rural area, but the only application of unmanned plane on this system stricti jurise, collaboration is embodied, therefore still have larger improvement
Space.
Three, invention content
The purpose of the present invention is to provide the air-ground coordinations that a kind of unitized vehicle-mounted dynamic recycled/discharged unmanned plane device
Dynamic docking facilities solve the problems, such as that vehicle is docked with the dynamic of unmanned plane, reduce the requirement to aerial vehicle trajectory control accuracy, carry
Rise the reliability of dynamic docking.
Realize that the technical solution of the object of the invention is：A kind of air-ground coordination dynamic docking facilities, including airborne device
And car-mounted device；
The airborne device includes electric retractable undercarriage, pulling force sensor, electric capstan and multi-functional hook lock, described
Multi-functional hook lock is wrapped in by traction rope on electric capstan, and pulling force sensor is fixed on electric capstan below airborne device,
Pulling force sensor is used to detect the stressing conditions of electric capstan；
The car-mounted device is in cylinder and is set to the top of car body, and the cylinder upper surface opens up a plurality of along radius
Gap is connected by limiting cylindrical wall between adjacent gap, one group of lift servo mechanism of setting, every group of lifting every gap in
Servo mechanism includes elevating rocker arm, steering engine, sliding block and the linear guide；Described elevating rocker arm one end is connected with taper padlock by hinge
It connects, the rocking arm connection of the other end and steering engine, steering engine is connect with sliding block, and sliding block can move in the linear guide；It is shaken for lifting in gap
Arm is swung up and down.
Further, angle of the lift servo mechanism circumferentially between array distribution, that is, adjacent slits is equal.
Further, the elevating rocker arm is swung up and down, and the angular range of elevating rocker arm and horizontal plane is ± 60 °.
Further, the seamed edge number of the taper padlock is equal with elevating rocker arm quantity, the bottom edge angle point of taper padlock
It is connect using hinging manner between elevating rocker arm.
Further, at car-mounted device center, it is maximum that body diameter is more than taper padlock for limit cylindrical wall setting
Outsourcing sphere diameter.
Further, the hook number at least two of the multi-functional hook lock, each multi-functional hook lock include hook with
Steering engine, steering engine are controlled by flight control system；The steering engine is circumferentially arranged in Plane of rotation, and exports rotary shaft outwardly simultaneously
Vertical with rope, hook one end is connected with steering engine rocking arm, and the other end is rotated along the output rotary shaft of steering engine, rotation angle model
Enclose is 180 ° ± 45 °.
Compared with prior art, the present invention its remarkable advantage is：(1) equipment is simple, only attached compared to conventional unmanned plane
Cord lock device and feedback device are added, system reliability is high, influences very little to unmanned plane cruising ability itself and size；(2) lead to
It is strong with property, different air-ground coordination systems is may migrate to, aircraft includes multi-rotor aerocraft, helicopter, tilting rotor flight
Device, ground surface platform include the transport facilitys such as naval vessel, tank；(3) difficulty for reducing flight control system track following, has
0.5m3Position error allows space, while aircraft can march into the arena from different directions, and raising is captured as power；(4) ensureing
While unmanned plane tracking accuracy, the more violent attitudes vibration of ground surface platform is adapted to.
Four, it illustrates
Fig. 1 is the overall schematic of air-ground coordination dynamic docking facilities of the present invention.
Fig. 2 is that the aircraft of the present invention enters status diagram to be captured.
Fig. 3 is that the aircraft of the present invention and capture are completed to enter line traction state schematic diagram.
Fig. 4 is that the aircraft of the present invention is in recycling status diagram.
Fig. 5 is that the aircraft of the present invention is in release conditions schematic diagram.
Fig. 6 is three kinds of status diagrams of the multi-functional hook lock 7 of the present invention, wherein (a) is trapped state schematic diagram, (b)
For locking state schematic diagram, (c) it is release conditions schematic diagram.
Five, specific implementation mode
Below in conjunction with the accompanying drawings and specific implementation mode invention is further described in detail.
A kind of air-ground coordination dynamic docking facilities, including airborne device 1 and car-mounted device 2；
The airborne device 1 includes electric retractable undercarriage 4, pulling force sensor 5, electric capstan 6 and multi-functional hook lock 7,
The multi-functional hook lock 7 is wrapped in by traction rope on electric capstan 6, and pulling force sensor 5 is fixed on airborne with electric capstan 6
1 lower section of device, pulling force sensor 5 are used to detect the stressing conditions of electric capstan 6；
The car-mounted device 2 is in cylinder and is set to the top of car body 3, and the cylinder upper surface opens up more along radius
Gap is connected by limiting cylindrical wall 11 between adjacent gap, one group of lift servo mechanism of setting every gap in, every group
Lift servo mechanism includes elevating rocker arm 10, steering engine 8, sliding block 12 and the linear guide 13；10 one end of the elevating rocker arm and taper
Padlock 9 is connected through the hinge, the rocking arm of the other end and steering engine 8 connects, and steering engine 8 is connect with sliding block 12, and sliding block 12 can be led in straight line
It is moved on rail 13；Gap is swung up and down for elevating rocker arm 10.
Further, angle of the lift servo mechanism circumferentially between array distribution, that is, adjacent slits is equal.
Further, the elevating rocker arm 10 is swung up and down, and the angular range of elevating rocker arm 10 and horizontal plane is ± 60 °.
Further, the seamed edge number of the taper padlock 9 is equal with 10 quantity of elevating rocker arm, the bottom edge of taper padlock 9
It is connected using hinging manner between angle point and elevating rocker arm 10.
Further, the limit cylindrical wall 11 setting is more than taper padlock 9 at 2 center of car-mounted device, body diameter
Maximum outsourcing sphere diameter.
Further, the hook number at least two of the multi-functional hook lock 7, each multi-functional hook lock 7 include hook
With steering engine, steering engine is controlled by flight control system；The steering engine is circumferentially arranged in Plane of rotation, and exports rotary shaft outwardly
And it is vertical with rope, hook one end is connected with steering engine rocking arm, and the other end is rotated along the output rotary shaft of steering engine, rotation angle
Ranging from 180 ° ± 45 °.
The course of work of above-mentioned air-ground coordination dynamic docking facilities is as follows：
Acquisition phase, unmanned plane are marched into the arena, and send landing request signal to car-mounted device by wireless data sending, car-mounted device is received
Land to unmanned plane and instruct, the steering engine in vehicle-mounted control module control lift servo mechanism makes elevating rocker arm be rotated up, steering engine
Inwardly gather along guide rail direction, elevating rocker arm rises, and is in pyramid structure, and liter is hooked in the multi-functional hook lock trial in airborne device
Rocking arm drops, and pulling force sensor once detects that pulling force is more than predetermined threshold value, confirms that multi-functional hook lock has hooked elevating rocker arm, draws
Force signal feeds back to flight control system, and locked shape is pivoted upwardly by flight control system control Multifunctional hook locking and hanging hook
State, while appropriate increase aircraft throttle amount, multi-functional hook lock slide to car-mounted device top automatically under the pulling force effect of unmanned plane
At the taper padlock at end, capture is completed.
Recovery stage, the servos control elevating rocker arm in car-mounted device rotate down, and steering engine is displaced outwardly along guide rail direction,
Elevating rocker arm drives unmanned plane to decline, and the taper padlock in car-mounted device makes the multi-functional hook lock in airborne device not break away outward
It moves, the electric retractable undercarriage in airborne device is put down, and completes recycling.
Release stage, the hook that UAV Flight Control System controls multi-functional hook lock are rotated down into release conditions,
Unmanned plane is detached from car-mounted device and enters execution task status.
Below in conjunction with the accompanying drawings and specific embodiment is described in further details the present invention.
Embodiment 1
In conjunction with Fig. 1, a kind of air-ground coordination dynamic docking facilities of the present invention, including car-mounted device 2 and airborne device 1, wherein
Airborne device includes electric retractable undercarriage 4, pulling force sensor 5, electric capstan 6 and multi-functional hook lock 7, the Multifunctional hook
Lock 7 is wrapped in by traction rope on electric capstan 6, and pulling force sensor 5 is fixed on 1 lower section of airborne device with electric capstan 6, is used for
Detect the stressing conditions of electric capstan 6；Car-mounted device 2 is led including taper padlock 9, elevating rocker arm 10, steering engine 8, sliding block 12, straight line
Rail 13 and limit cylindrical wall 11,10 one end of the elevating rocker arm are connected through the hinge with taper padlock 9, the other end and steering engine 8
Rocking arm connects, and steering engine 8 is connect with sliding block 12, and sliding block 12 can move in the linear guide 13.
The lift servo mechanism that elevating rocker arm 10, steering engine 8, sliding block 12 and the linear guide 13 forms, is slided for steering engine
One kind in rail, leading screw revolute, hydraulic stem.
The present invention is gone straight up to using the coaxial double-oar aircraft for being equipped with protective frame, compared to conventional multi-rotor aerocraft with conventional
Machine has efficient, safe, compact-sized advantage.
In conjunction with Fig. 2, the airborne device 1 in unmanned plane is marched into the arena, and multi-functional hook lock 7 is discharged by electric capstan 6, by difference
GPS is close to mobile vehicle with image guidance techniques, and electric retractable undercarriage 4 in opened condition, increases the hook lock useful space, nothing
Man-machine to send landing request signal to car-mounted device by wireless data sending, car-mounted device receives unmanned plane landing instruction, controls vehicle
It carries and sets 2 steering engine 8 and rotate up, sliding block 12 is connected with steering engine 8, and the two is gathered along the linear guide 13 inwardly together, lifting
It is in pyramid shape that rocking arm 10, which rises, waits Multifunctional hook lock 7 to be captured.
In conjunction with Fig. 3, multi-functional hook lock 7 tangles elevating rocker arm 10, and pulling force sensor 5 detects signal and passes through data radio station
Flight control system and vehicular platform 2 are fed back to, the hook of multi-functional hook lock 7 is pivoted upwardly into locking state, and unmanned plane flies
Row control system suitably increases unmanned plane lift, and unmanned plane rises, and the taper that multi-functional hook lock 7 slides to 10 top of elevating rocker arm is hung
It locks at 9.
In conjunction with Fig. 4, flight control system control operation of landing gear 4 falls through into landing state, and steering engine 8 is rotated down, with
Sliding block 12 is moved along the linear guide 13 outward together, elevating rocker arm 10 with the taper padlock 9 at the top of it by four hinge connections,
Therefore, the angle that arches upward of taper padlock 9 will not change because of the movement of elevating rocker arm 10, so that it is guaranteed that multi-functional hook lock 7 is not
It can be slided to the root of elevating rocker arm 10, drive unmanned plane to decline by cable traction.
In conjunction with Fig. 5, elevating rocker arm 10 is down to vehicle-mounted base of frame, and unmanned plane drop to vehicle-mounted frame upper surface, is drawing
Rope is limited in unmanned plane under the constraint of undercarriage on landing platform, so far completes the recycling of unmanned plane.
In removal process, if there are urgent abnormal conditions, multi-functional hook lock 7 skids off taper padlock 9, pulling force sensor 5
It detects that signal fluctuation is more than predetermined threshold value, feeds back to flight control system at once, multi-functional hook lock 7 is switched into release shape
State, unmanned plane can go around at once, to ensure the safety and reliability of recycling.
In the release stage, the hook that flight control system controls multi-functional hook lock 7 is rotated down and switches to release conditions, vehicle
It is limit cylindrical wall 11 among mounted mechanism frame, prevents multi-functional hook lock 7 from sliding into sliding block moving track stuck so as to cause release
Failure, waits for that unmanned plane rises to appropriate height, and electric capstan 6 packs up traction rope, and UAV Flight Control System control is risen and fallen
Frame is packed up, and unmanned plane is detached from vehicle and enters execution task status.
Claims (6)
1. a kind of air-ground coordination dynamic docking facilities, which is characterized in that including airborne device (1) and car-mounted device (2)；
The airborne device (1) includes electric retractable undercarriage (4), pulling force sensor (5), electric capstan (6) and Multifunctional hook
It locks (7), the multi-functional hook lock (7) is wrapped in by traction rope on electric capstan (6), pulling force sensor (5) and electric mincing
Disk (6) is fixed below airborne device (1), and pulling force sensor (5) is used to detect the stressing conditions of electric capstan (6)；
The car-mounted device (2) is in cylinder and is set to the top of car body (3), and the cylinder upper surface opens up more along radius
Gap is connected by limiting cylindrical wall (11) between adjacent gap, one group of lift servo mechanism of setting every gap in, often
Group lift servo mechanism includes elevating rocker arm (10), steering engine (8), sliding block (12) and the linear guide (13)；The elevating rocker arm
(10) one end is connected through the hinge with taper padlock (9), the rocking arm of the other end and steering engine (8) is connect, steering engine (8) and sliding block (12)
Connection, sliding block (12) can move in the linear guide (13)；Gap is swung up and down for elevating rocker arm (10).
2. air-ground coordination dynamic docking facilities according to claim 1, which is characterized in that the lift servo mechanism is in circle
Angle between all array distribution, that is, adjacent slits is equal.
3. air-ground coordination dynamic docking facilities according to claim 1, which is characterized in that the elevating rocker arm (10) is up and down
It swings, the angular range of elevating rocker arm (10) and horizontal plane is ± 60 °.
4. air-ground coordination dynamic docking facilities according to claim 1, which is characterized in that the rib of the taper padlock (9)
Number of edges mesh is equal with elevating rocker arm (10) quantity, and hinge is used between the bottom edge angle point and elevating rocker arm (10) of taper padlock (9)
Mode connects.
5. air-ground coordination dynamic docking facilities according to claim 1, which is characterized in that the limit cylindrical wall (11)
At car-mounted device (2) center, body diameter is more than the maximum outsourcing sphere diameter of taper padlock (9) for setting.
6. air-ground coordination dynamic docking facilities according to claim 1, which is characterized in that the multi-functional hook lock (7)
Hook number at least two, each multi-functional hook lock (7) include that hook and steering engine, steering engine are controlled by flight control system；Institute
It states steering engine circumferentially to arrange in Plane of rotation, and output rotary shaft is outwardly and vertical with rope, hook one end and steering engine rocking arm
It is connected, the other end is rotated along the output rotary shaft of steering engine, and rotation angle range is 180 ° ± 45 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810272694.2A CN108516080B (en) | 2018-03-29 | 2018-03-29 | Ground-air cooperative dynamic docking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810272694.2A CN108516080B (en) | 2018-03-29 | 2018-03-29 | Ground-air cooperative dynamic docking device |
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| CN108516080A true CN108516080A (en) | 2018-09-11 |
| CN108516080B CN108516080B (en) | 2024-01-23 |
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Cited By (5)
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| CN109264570A (en) * | 2018-12-01 | 2019-01-25 | 佛山市南海雅事达模型有限公司 | A kind of Intelligent unattended tackling system |
| CN109747840A (en) * | 2018-12-27 | 2019-05-14 | 中国航空工业集团公司西安飞机设计研究所 | A kind of unmanned plane space base ventral mechanical arm type recyclable device and recovery method |
| CN112896506A (en) * | 2021-01-28 | 2021-06-04 | 西安电子科技大学 | All-directional docking system and method based on flight array |
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| CN115320868A (en) * | 2022-08-12 | 2022-11-11 | 深圳市人工智能与机器人研究院 | Docking mechanism and unmanned aerial vehicle's butt joint system under environment rocks |
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| CN109264570A (en) * | 2018-12-01 | 2019-01-25 | 佛山市南海雅事达模型有限公司 | A kind of Intelligent unattended tackling system |
| CN109747840A (en) * | 2018-12-27 | 2019-05-14 | 中国航空工业集团公司西安飞机设计研究所 | A kind of unmanned plane space base ventral mechanical arm type recyclable device and recovery method |
| CN109747840B (en) * | 2018-12-27 | 2022-01-07 | 中国航空工业集团公司西安飞机设计研究所 | Unmanned aerial vehicle air-based machine web mechanical arm type recovery device and recovery method |
| CN113147559A (en) * | 2019-11-24 | 2021-07-23 | 杨滋垚 | Unmanned aerial vehicle take-off and landing platform |
| CN112896506A (en) * | 2021-01-28 | 2021-06-04 | 西安电子科技大学 | All-directional docking system and method based on flight array |
| CN115320868A (en) * | 2022-08-12 | 2022-11-11 | 深圳市人工智能与机器人研究院 | Docking mechanism and unmanned aerial vehicle's butt joint system under environment rocks |
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