CN112051808A - Unmanned aerial vehicle landing method based on automatic hangar of unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle landing method based on automatic hangar of unmanned aerial vehicle Download PDFInfo
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- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- 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
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
- B64F1/222—Ground or aircraft-carrier-deck installations for handling aircraft for storing aircraft, e.g. in hangars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/10—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface
- B65G15/12—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/44—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages for storing aircraft
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- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention discloses an unmanned aerial vehicle landing method based on an automatic hangar of an unmanned aerial vehicle, which relates to the field of unmanned aerial vehicles and comprises the following steps: the man-machine automatic hangar automatically generates an unmanned aerial vehicle landing instruction; the automatic hangar door of the unmanned aerial vehicle is automatically opened and closed; automatically lifting and lowering the transplanting jacking mechanism to corresponding positions; the locking device automatically releases and locks the storage unit of the unmanned aerial vehicle; and automatic landing of the unmanned aerial vehicle; the unmanned aerial vehicle storage unit is automatically moved out of and into the corresponding unmanned aerial vehicle storage area by the transplanting jacking mechanism; the automatic and intelligent landing of the unmanned aerial vehicle is realized through the automatic and intelligent operation, the position of the unmanned aerial vehicle can be automatically adjusted and corrected, the traditional manual landing process is avoided being greatly participated, the landing efficiency of the unmanned aerial vehicle is improved, the probability of landing faults is reduced, and meanwhile, the position of the unmanned aerial vehicle can be automatically corrected and adjusted.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle landing method based on an automatic hangar of an unmanned aerial vehicle.
Background
Unmanned aerial vehicle all need descend after carrying out the operation task, and unmanned aerial vehicle among the prior art descends and all controls through the manual work to and the position after descending all adjusts through the manual work, and the descending flow needs a large amount of manual work to participate in, and the manual work is participated in and is made mistakes easily and efficiency is lower.
Disclosure of Invention
The invention provides an unmanned aerial vehicle landing method based on an unmanned aerial vehicle automatic hangar, which can realize the automatic and intelligent landing of an unmanned aerial vehicle based on the unmanned aerial vehicle automatic hangar, avoid the traditional manual work from participating in a great amount of landing processes, improve the unmanned aerial vehicle landing efficiency, reduce the probability of landing faults and automatically correct and adjust the landing position of the unmanned aerial vehicle.
In order to achieve the above object, the present invention provides an unmanned aerial vehicle landing method based on an unmanned aerial vehicle automatic hangar, wherein the unmanned aerial vehicle automatic hangar is provided with a plurality of unmanned aerial vehicle storage areas, each unmanned aerial vehicle storage area corresponds to an unmanned aerial vehicle storage unit, and each unmanned aerial vehicle storage area is provided with a locking device for fixing the unmanned aerial vehicle storage unit, the method comprises:
step 1: unmanned aerial vehicle descending order is received to automatic hangar of unmanned aerial vehicle, wherein, includes in the unmanned aerial vehicle descending order: landing the unmanned aerial vehicle number m and the corresponding unmanned aerial vehicle storage unit number n;
step 2: detecting the state of an automatic unmanned aerial vehicle hangar door, if the automatic unmanned aerial vehicle hangar door is in a closed state, opening the automatic unmanned aerial vehicle hangar door, and enabling a transplanting jacking mechanism on the hangar door to be horizontal;
and step 3: the transplanting jacking mechanism is lifted to a position corresponding to the unmanned aerial vehicle storage unit with the number n;
and 4, step 4: a locking device in the unmanned aerial vehicle storage area unlocks an unmanned aerial vehicle storage unit;
and 5: the transplanting jacking mechanism shifts the unmanned aerial vehicle storage unit with the number n out of the corresponding unmanned aerial vehicle storage area to be right above the transplanting jacking mechanism;
step 6: the transplanting jacking mechanism carries the unmanned aerial vehicle storage unit with the number n to rise to a landing point, obstacle detection is carried out on the upper surface of the unmanned aerial vehicle storage unit with the number n, the unmanned aerial vehicle landing process is stopped if the obstacle exists, and the unmanned aerial vehicle landing process is continued if the obstacle does not exist;
and 7: the unmanned aerial vehicle numbered m lands on the unmanned aerial vehicle storage unit numbered n, whether the unmanned aerial vehicle exceeds the unmanned aerial vehicle storage unit is detected after landing, if yes, an alarm is given, and if not, the step 8 is executed;
and 8: correcting the position of the unmanned aerial vehicle with the number m;
and step 9: the unmanned aerial vehicle storage unit with the number n locks the unmanned aerial vehicle with the number m;
step 10: the transplanting jacking mechanism carries the unmanned aerial vehicle storage unit with the number n to descend to a position corresponding to the unmanned aerial vehicle storage unit with the number n;
step 11: transplanting climbing mechanism removes the unmanned aerial vehicle memory cell that the serial number is n to corresponding unmanned aerial vehicle memory area in, and locking device in the unmanned aerial vehicle memory area locks unmanned aerial vehicle memory cell, and the unmanned aerial vehicle memory cell that the serial number is n after the locking carries out wireless charging to the unmanned aerial vehicle that the serial number is m.
The principle of the unmanned aerial vehicle automatic storage system is based on the unmanned aerial vehicle automatic storage system, automatic and intelligent landing of an unmanned aerial vehicle is achieved through the unmanned aerial vehicle automatic storage system, a plurality of unmanned aerial vehicle storage areas are arranged in the unmanned aerial vehicle automatic storage system, each unmanned aerial vehicle storage area corresponds to one unmanned aerial vehicle storage unit, each unmanned aerial vehicle storage unit is used for storing the corresponding unmanned aerial vehicle, each unmanned aerial vehicle storage area is provided with a locking device used for fixing the unmanned aerial vehicle storage unit, the unmanned aerial vehicle storage units can be fixed through the locking devices, and collision and shaking are avoided.
The method comprises the following steps of: an unmanned aerial vehicle automatic hangar automatically generates an unmanned aerial vehicle landing instruction; the automatic hangar door of the unmanned aerial vehicle is automatically opened and closed; automatically lifting and lowering the transplanting jacking mechanism to corresponding positions; the locking device automatically releases and locks the storage unit of the unmanned aerial vehicle; and automatic landing of the unmanned aerial vehicle; the unmanned aerial vehicle storage unit is automatically moved out of and into the corresponding unmanned aerial vehicle storage area by the transplanting jacking mechanism; the automatic and intelligent landing of the unmanned aerial vehicle is realized through the automatic and intelligent operation, the position of the unmanned aerial vehicle can be automatically adjusted and corrected, the traditional manual landing process is avoided being greatly participated in, the landing efficiency of the unmanned aerial vehicle is improved, the probability of landing faults is reduced, and meanwhile, the landing position of the unmanned aerial vehicle can be automatically corrected and adjusted.
Preferably, the method further comprises the following steps before step 1:
after the unmanned aerial vehicle finishes the operation task, sending an operation task finishing instruction to the unmanned aerial vehicle management background;
and the unmanned aerial vehicle management background generates an unmanned aerial vehicle landing instruction based on the operation task completion instruction and sends the unmanned aerial vehicle landing instruction to an unmanned aerial vehicle automatic hangar.
The unmanned aerial vehicle management background can be used for uniformly managing the unmanned aerial vehicle, and intelligent control and management are achieved.
Preferably, the method further comprises:
after all unmanned aerial vehicles finish descending, the transplanting jacking mechanism is retracted, and a garage door of the unmanned aerial vehicle automatic garage is closed;
wirelessly charging the unmanned aerial vehicle with the residual electric quantity lower than a threshold value in the automatic unmanned aerial vehicle warehouse;
and the unmanned aerial vehicle automatic hangar moves to a corresponding destination.
The unmanned aerial vehicle in the method is charged in a wireless mode, the residual electric quantity is fed back to the unmanned aerial vehicle automatic hangar after the unmanned aerial vehicle falls, the unmanned aerial vehicle automatic hangar judges whether the residual electric quantity is smaller than a threshold value or not after receiving the information of the residual electric quantity of the unmanned aerial vehicle, if so, the unmanned aerial vehicle automatic hangar is automatically charged, and the unmanned aerial vehicle automatic hangar adopts a movable carrier to carry, transport and move conveniently.
Preferably, in the method, the obstacle detection on the upper surface of the storage unit of the unmanned aerial vehicle numbered n includes any one of the following modes: identifying whether an obstacle exists on the upper surface of the storage unit of the unmanned aerial vehicle in an image identification mode; detecting obstacles by using a laser radar; when the upper surface of the storage unit of the unmanned aerial vehicle is detected to have the obstacle, the method gives an alarm and cleans the obstacle, and the obstacle detection is continued after the obstacle is cleaned. Can influence unmanned aerial vehicle's normal descending when the barrier, make unmanned aerial vehicle the potential safety hazard appears, carry out the security that the barrier detected and can improve unmanned aerial vehicle and descend.
After landing, whether the unmanned aerial vehicle exceeds the unmanned aerial vehicle storage unit is detected, namely whether the unmanned aerial vehicle exceeds the boundary of the unmanned aerial vehicle storage unit is judged, if yes, an alarm is given, and if not, the subsequent steps are executed.
Preferably, the method further comprises, before step 1:
monitoring the external environment of the automatic unmanned aerial vehicle hangar to obtain external environment parameters;
judging whether the external environment parameters meet the landing requirements of the unmanned aerial vehicle, and if not, suspending the landing process of the unmanned aerial vehicle; and if the takeoff requirement is met, starting the unmanned aerial vehicle landing process.
Wherein, when unmanned aerial vehicle carries out the descending task, utilize the automatic hangar external environment of unmanned aerial vehicle to monitor, the purpose obtains external environment parameter, and it is not influenced to guarantee that unmanned aerial vehicle can normally descend through the monitoring to external environment, avoids appearing flight accident or trouble, guarantees the security that unmanned aerial vehicle descends.
Preferably, unmanned aerial vehicle automatic hangar is equipped with a plurality of storehouse door, all is equipped with one or more and transplants climbing mechanism on every storehouse door, when needs carry out unmanned aerial vehicle descending task, at first judges whether have and transplants climbing mechanism and be in idle state, if have then select idle transplantation climbing mechanism to carry out unmanned aerial vehicle descending task, if do not then join the task queue with corresponding unmanned aerial vehicle descending task, carry out corresponding unmanned aerial vehicle descending task based on task queue sequencing.
Wherein, the design purpose of the step is to simultaneously realize the simultaneous landing of a plurality of unmanned aerial vehicles, when the unmanned aerial vehicles need to be landed simultaneously, firstly, all transplanting jacking mechanisms in an automatic unmanned aerial vehicle warehouse are traversed, idle transplanting jacking mechanisms are found, whether the number of the idle transplanting jacking mechanisms is larger than the number of the unmanned aerial vehicles which need to be landed at present is judged, if the number of the idle transplanting jacking mechanisms is larger than the number of the unmanned aerial vehicles which need to be landed at present, a corresponding number of transplanting jacking mechanisms are selected from the idle transplanting jacking mechanisms, the corresponding unmanned aerial vehicles are moved out of the storage unit and lifted to a landing point for landing, if the number of the idle transplanting jacking mechanisms is smaller than the number of the unmanned aerial vehicles which need to be landed at present, the corresponding unmanned aerial vehicle landing tasks are added into a task queue, the corresponding unmanned aerial vehicle landing tasks are executed based on the, the descending process of a plurality of unmanned aerial vehicles can be realized in the above mode, and the descending efficiency and the operation efficiency of the unmanned aerial vehicles are improved.
Preferably, in the method, the unmanned aerial vehicle storage unit locks or unlocks the unmanned aerial vehicle foot stand through the unmanned aerial vehicle foot stand locking mechanism. After unmanned aerial vehicle fell, utilize unmanned aerial vehicle foot rest locking mechanism to lock the unmanned aerial vehicle foot rest, can ensure that unmanned aerial vehicle is fixed firm through locking, guarantee unmanned aerial vehicle's safety, unmanned aerial vehicle takes off after unmanned aerial vehicle foot rest locking mechanism contact locking when needs take off.
Preferably, the method further comprises the step 12 of: and obtaining a time interval T1 between the next unmanned aerial vehicle takeoff task execution time and the current time, obtaining a time interval T2 between the next unmanned aerial vehicle landing task execution time and the current time, if TI and T2 are both greater than a threshold value, generating a reminding warehouse door closing message, and generating the reminding warehouse door closing message to control an operation end of an unmanned aerial vehicle automatic warehouse.
The aim of the design in the step is that when an unmanned aerial vehicle landing task is executed, the warehouse door of the unmanned aerial vehicle automatic warehouse is in an open state, if the interval time for the next unmanned aerial vehicle to land is long, or the time required for the task executed by the unmanned aerial vehicle is long, a reminding warehouse door closing message is generated, the reminding warehouse door closing message is generated to be used as an operation end of the unmanned aerial vehicle automatic warehouse, the operation end executes a corresponding operation instruction, if the closing instruction closes the warehouse door of the unmanned aerial vehicle automatic warehouse, the aim is to open the warehouse door of the unmanned aerial vehicle automatic warehouse for a long time and have corresponding potential safety hazards, and the unmanned aerial vehicle and equipment in the unmanned aerial vehicle automatic warehouse can be protected by the design.
Preferably, the method further comprises, before step 1:
unmanned aerial vehicle automatic hangar receives unmanned aerial vehicle operation task from unmanned aerial vehicle management backstage, and unmanned aerial vehicle automatic hangar carries out the analysis to unmanned aerial vehicle operation task and obtains unmanned aerial vehicle descending instruction, unmanned aerial vehicle descending instruction still includes unmanned aerial vehicle descending moment, carries out unmanned aerial vehicle descending flow when reaching unmanned aerial vehicle descending moment.
Preferably, the method further comprises detecting the unmanned aerial vehicle after landing, and maintaining the unmanned aerial vehicle if the unmanned aerial vehicle is detected to be abnormal. Unmanned aerial vehicle has probably appeared the trouble or the not hard up maintenance that needs of some parts after carrying out the task, can ensure next safe flight after the maintenance.
Preferably, the transplanting jacking mechanism in the method comprises: the lifting mechanism, the transferring mechanism and the lifting platform; the inner wall of a door plate of the automatic hangar of the unmanned aerial vehicle is provided with a jacking mechanism, one end of the jacking mechanism, which is far away from the door plate, is connected with a lifting platform, and a transfer mechanism is arranged on the lifting platform; the landing platform is used for bearing the unmanned aerial vehicle; the jacking mechanism is used for enabling the lifting platform to be close to and far away from the door plate; the transfer mechanism is used for enabling the unmanned aerial vehicle to enter and move out of the landing platform.
Aiming at the problem of limitation of functions of an unmanned aerial vehicle hangar door in the prior art, the transplanting jacking mechanism is designed, and on the basis of the existing door plate, the jacking mechanism is arranged on the inner wall of the door plate and is connected with the lifting platform through the jacking mechanism. The inner wall of the door plate refers to a surface of the door plate facing the direction of the interior of the hangar when the hangar door is in a closed state. Through setting up jacking mechanism at the door plant inner wall, can make when the storehouse door is closed, jacking mechanism and platform that rises and falls can both be accomodate in the hangar inside, play the effect of practicing thrift the space, protecting jacking mechanism and the platform that rises and falls. In addition, the term "jacking" in the jacking mechanism means that when the door panel is in the open state, the lifting platform is located above the jacking mechanism, and the jacking mechanism works to drive the lifting platform to lift or descend. In addition, a transfer mechanism is arranged on the lifting platform, and when the unmanned aerial vehicle needs to take off, the unmanned aerial vehicle is moved out of the garage to the lifting platform through the transfer mechanism; when the unmanned aerial vehicle descends, the unmanned aerial vehicle is moved to the hangar from the lifting platform through the transfer mechanism. When the garage door is used, the door plate is directly arranged on a machine garage with an opening on the side surface, so that the bottom edge of the door plate is hinged with the side surface of the machine garage, and the door plate is opened in a downward-turning mode; when no unmanned aerial vehicle needs to take off or land, the garage door keeps a closed state to seal the open face of the side face of the garage, at the moment, the jacking mechanism contracts as much as possible, the distance between the lifting platform and the door plate is minimum, excessive space cannot be occupied, and integrated arrangement and integrated storage of the garage door are facilitated; when the unmanned aerial vehicle needs to take off, the door plate is opened, the lifting platform is enabled to be turned to be in a horizontal state, the lifting mechanism lifts the lifting platform to the height of the unmanned aerial vehicle, the transfer mechanism moves the unmanned aerial vehicle out of the garage onto the lifting platform, the lifting mechanism continues to lift the lifting platform to the take-off height, the unmanned aerial vehicle takes off from the lifting platform, then the lifting platform descends, and the garage door is closed again for standby. When unmanned aerial vehicle need descend, open the door plant once more, climbing mechanism will rise and fall the platform jacking to descending height, and unmanned aerial vehicle descends to the platform that rises and falls on, and climbing mechanism will rise and fall the platform again and descend to the storage height of this unmanned aerial vehicle in the locomotive, moves and carries the mechanism and move this unmanned aerial vehicle to the locomotive from the platform that rises and falls. In conclusion, the garage door is arranged on the side face of the hangar and is integrated with the jacking mechanism, the lifting platform and the transferring mechanism, compared with the conventional garage door, the garage door is used as a transferring structure for the take-off and landing of the unmanned aerial vehicle, so that the internal space of the garage body occupied by the transferring structure is avoided, and great functionality is provided for the garage door; and make the platform that rises and falls shrink when out of work, effectively realized accomodating of unmanned aerial vehicle transfer structure that rises and falls, show and improve space utilization. In addition, the storehouse door of this application is owing to have climbing mechanism can adjust the height in a flexible way, have to move and carry the transport that the mechanism realized unmanned aerial vehicle, consequently can make the internal unmanned aerial vehicle in storehouse of this storehouse door of assembly carry out the multilayer and arrange, has still solved among the prior art unmanned aerial vehicle storehouse body and only can arrange unmanned aerial vehicle's defect by the individual layer, has still realized improving the space utilization who corresponds the storehouse body, has improved the purpose that corresponds the unmanned aerial vehicle capacity of hangar.
Further, the bottom edge of the door plate is hinged with the side face of the hangar; the inner wall of the door plate is further hinged with a telescopic device, and one end, far away from the door plate, of the telescopic device is hinged with the side face of the hangar. The telescopic device is used for pulling the door plate and slowly extending when the cabinet door is opened, so that the door plate is slowly and stably unfolded in a downward turning mode; and meanwhile, the door plate is gradually contracted to be pulled up when needing to be closed. The telescopic device can use any prior art, such as an air cylinder, a hydraulic cylinder or an electric push rod and the like, and can realize telescopic functions.
Further, the upper surface of the lifting platform is parallel to the inner side wall of the door panel; the lifting platform and the jacking mechanism form a shear type lifting platform together.
Further, the transfer mechanism comprises a conveying belt capable of reciprocating, and a shifting piece is fixedly connected to the conveying belt; also included is a first drive for driving the conveyor belt. The conveyer belt in this scheme can be for the belt, the chain etc. arbitrary present conveyer belt all can. The conveyer belt carries out reciprocating motion as the component that moves the mechanism on rising and falling platform, drives the plectrum of fixing on it and moves in step, and the plectrum supports to lean on unmanned aerial vehicle bottom back, can promote unmanned aerial vehicle to carry out and move. Specifically, the method comprises the following steps: when the unmanned aerial vehicle needs to be moved out of the hangar onto the lifting platform, the conveying belt drives the shifting piece to move from one end close to the hangar to one end far away from the hangar, and then the unmanned aerial vehicle can be pushed to gradually enter a designated position on the lifting platform; when the unmanned aerial vehicle needs to be moved back to the machine room from the lifting platform, the conveying belt drives the shifting piece to move to one end close to the machine room from one end far away from the machine room, and then the unmanned aerial vehicle can be pushed to gradually enter the machine room from the lifting platform. This scheme brings through the conveying and drives the plectrum and be reciprocating motion on the platform that rises and falls, and the motion through the plectrum promotes unmanned aerial vehicle and removes to unmanned aerial vehicle moves the switching of carrying between the storehouse door of this application and unmanned aerial vehicle's hangar has been realized. The conveyor belt is preferably a rotary conveyor belt, and the required reciprocating function is realized by controlling the forward and reverse rotation of the conveyor belt. This scheme has fully realized realizing the reciprocal effect of carrying that carries of unmanned aerial vehicle through the storehouse door, carries the integrated effect of carrying the mechanism fabulous, optimization installation space and structure that can be further. Wherein, the conveyer belt is driven by the first drive device to move.
The lifting platform is characterized by further comprising a slide rail fixed on the lifting platform, wherein one end of the slide rail extends out of the lifting platform; the first driving device is fixed relative to the mounting piece, and the driven wheel is rotatably connected to the mounting piece; the second driving device is used for driving the mounting part to move along the sliding rail. The inventor has found during further research that in order not to affect the normal closing seal of the garage door of the present application, the drone placed in the garage is necessarily located slightly inward in the garage. For this reason, if the conveyer belt is located the projection region of door plant completely, no matter how the conveyer belt rotates, all be difficult to make the plectrum on it enough to be located the unmanned aerial vehicle in the hangar, only can realize advancing unmanned aerial vehicle to the effect in the hangar from the door plant. In order to overcome the problem, the sliding rail is fixed on the lifting platform in the scheme, one end of the sliding rail extends out of the lifting platform, and when the garage door is opened, one end of the sliding rail extending out of the lifting platform faces towards the inner direction of the garage. The sliding rail is connected with an installation part in a sliding way, the first driving device and the installation part are relatively fixed, and the sliding of the installation part drives the first driving device to synchronously slide so as to drive the driving wheel to slide; simultaneously, also rotate to be connected on the installed part from the driving wheel, consequently also slide along with the installed part from the driving wheel, finally make whole conveyer belt can both move one section distance towards the internal portion direction in storehouse for the plectrum can rotate to the internal portion in storehouse, thereby outwards release unmanned aerial vehicle from the internal portion in storehouse. In this scheme, the relatively fixed mode of first drive arrangement and installed part can through arbitrary prior art realization.
Furthermore, one end of the poking sheet, which is far away from the conveying belt, is rotatably connected with the guide wheel. The promotion to unmanned aerial vehicle is realized through the plectrum, and the one end of keeping away from the conveyer belt promptly at its outer end rotates and connects the introduction, avoids hard contact extrusion by force between plectrum and the unmanned aerial vehicle through the guide pulley, and the rolling friction that will be comparatively strong originally is converted into the guide pulley to run away, has improved this application and has moved the protection effect to unmanned aerial vehicle in the mechanism working process that moves.
Furthermore, two transfer mechanisms are arranged on one lifting platform, and the two transfer mechanisms are respectively distributed on two opposite side edges of the lifting platform. Every unmanned aerial vehicle's take off and descend and all move the mechanism and move realization simultaneously through moving of both sides, ensure the steady removal that removes of unmanned aerial vehicle, show the stability in use that improves this application.
Compared with the conventional warehouse door, the transplanting jacking mechanism integrates the jacking mechanism, the lifting platform and the transferring mechanism, and the warehouse door is used as a transfer structure for the take-off and landing of the unmanned aerial vehicle, so that the transfer structure is prevented from occupying the internal space of the warehouse body, and great functionality is provided for the warehouse door; and make the platform that rises and falls shrink when out of work, effectively realized taking in of unmanned aerial vehicle transfer structure that rises and falls, showing and improving space utilization.
According to the transplanting jacking mechanism, the height can be flexibly adjusted by the jacking mechanism, and the transfer mechanism is used for transferring the unmanned aerial vehicles, so that the unmanned aerial vehicles in the warehouse body for assembling the warehouse door can be arranged in multiple layers, the defect that the unmanned aerial vehicles can only be arranged in a single layer in the unmanned aerial vehicle warehouse body in the prior art is overcome, and the purposes of improving the space utilization rate of the corresponding warehouse body and improving the capacity of the unmanned aerial vehicle of the corresponding warehouse are achieved.
According to the transplanting jacking mechanism, the shifting piece is driven to reciprocate on the lifting platform through the conveying belt, and the unmanned aerial vehicle is pushed to move through the movement of the shifting piece, so that the transfer exchange of the unmanned aerial vehicle between the garage door and the unmanned aerial vehicle garage is realized, the integration effect of the transfer mechanism is excellent, and the installation space and structure can be further optimized.
According to the transplanting jacking mechanism, the driven wheel slides along with the mounting piece, and finally the whole conveying belt can move a certain distance towards the inside of the warehouse body, so that the shifting piece can rotate to the inside of the warehouse body, the unmanned aerial vehicle is pushed out from the inside of the warehouse body, and the effect that the unmanned aerial vehicle can be moved out of the warehouse body only through the warehouse door is achieved.
The transfer mechanism comprises a storage unit positioned in a storage area and a transfer unit used for being butted with the storage unit; also included is a handling assembly located within the storage area and/or on the transfer unit for handling the storage unit between the storage area and the transfer unit.
Aiming at the difficult problem of field carrying of storage units of an unmanned aerial vehicle hangar in the prior art, the invention designs the transfer mechanism, storage areas are arranged in the unmanned aerial vehicle hangar, a plurality of storage units are arranged in the storage areas, and each storage unit is used for placing one unmanned aerial vehicle. The improvement of the invention is that a transfer unit is also provided for docking with the storage unit, and a handling assembly is provided in the storage area and/or on the transfer unit, by means of which the movement of the storage unit between the storage area and the transfer unit is achieved. The unmanned aerial vehicle can enter and exit the hangar storage area without using manpower or using instruments such as an external crane, and the problem that the storage unit is difficult to efficiently enter and exit the unmanned aerial vehicle hangar on site in the prior art is solved. In addition, the unmanned aerial vehicle is carried to the transfer unit from the storage unit and is carried back to the storage unit from the transfer unit, so that the unmanned aerial vehicle can directly or indirectly complete take-off and landing on the transfer unit, and the transfer unit can take over the take-off and landing of the unmanned aerial vehicle at any required position and height, so that the defect that the take-off and landing mode of a large unmanned aerial vehicle in the prior art is single and the take-off and landing mode is single due to the fact that the unmanned aerial vehicle only can directly take off and land in a storage area is overcome, the take-off and landing of the unmanned aerial vehicle can be carried out outside the storage area, the conditions that the influence on other unmanned aerial vehicles interferes and even collides with the other unmanned aerial vehicles are avoided, and more lifting modes are created for the large unmanned aerial vehicle storage area. When this application specifically uses, can realize unmanned aerial vehicle's the operation of taking off and land to arbitrary required position through arbitrary current mode control transfer unit.
Further, the carrying assembly comprises a second carrying mechanism arranged on the transfer unit and grooves positioned at corners of the storage unit; the second carrying mechanism comprises second linear driving devices arranged on two opposite sides of the transfer unit, and a storage area of the storage unit on the transfer unit is arranged between the two second linear driving devices; the second linear driving device is fixedly connected with two second pushing pieces; the second pusher is capable of entering the recess.
The two second linear driving devices on the two sides respectively drive the second pushing pieces on the two sides to move, when the two second pushing pieces move from the transfer unit to the direction close to the storage area, the storage unit can be integrally pushed into the storage area until the storage unit is pushed into the storage area; similarly, when the storage unit needs to be moved out of the storage area, the second pushing members on the two sides rotate to the outer end of the storage unit, and the storage unit can be carried out from the storage area along with the fact that the two second pushing members respectively enter the two opposite grooves, so that the storage unit can enter the transfer unit. The two second pushing members are fixedly connected to the second linear driving device, so that the two second pushing members can be relayed to jointly complete the movement of the storage unit. When the first second pushing member enters the first groove, the storage unit starts to move; and the second pushing piece gradually separates from the groove matched with the second pushing piece in the process of turning along with the fact that the second pushing piece moves to the tail end of the one-way stroke, but simultaneously, the other second pushing piece enters the other groove on the same side, so that the storage unit is pushed continuously, and relay transportation of the two second pushing pieces is realized.
Furthermore, the second linear driving device is an annular second synchronous belt driven by a second power source to rotate, the second pushing piece is a hanging lug, and the hanging lug extends to the outer side of the second synchronous belt. The second power source directly or indirectly drives the second synchronous belt to rotate, and drives the second pushing piece positioned on the outer side of the second synchronous belt to move synchronously. This scheme uses the second hold-in range as second sharp drive arrangement, can rotate the second impeller to the one side of another second hold-in range place direction of back of the body when need not promote the storage unit, avoids the second impeller to the inside extension of transfer unit and influence unmanned aerial vehicle's normal operation of taking off and land. When the storage unit needs to be moved, the second synchronous belt is started, and the storage unit bearing the unmanned aerial vehicle can be pushed from two sides simultaneously. The theoretical pushing distance of any one second pushing piece is the length of one side of the second synchronous belt. This scheme compares with the technique that directly promotes from the rear with using pneumatic cylinder, cylinder etc. not only can guarantee more stable handling, has still avoided occuping the width space of transfer unit, can realize above-mentioned handling through set up the very little second hold-in range in transfer unit both sides, is showing and is improving space utilization. In addition, the scheme uses two second synchronous belts to drive four second pushing pieces to do rotary motion, and the resetting of the second pushing pieces is realized by rotating from the outer sides of the second synchronous belts, so that no interference is caused to the storage units pushed into the storage area in the process; and the acting force of the two second pushing pieces on the storage unit is completely consistent with the required moving direction of the storage unit, and any extrusion clamping cannot be generated, so that the storage unit has remarkable effects of protecting the storage unit, reducing the abrasion of the storage unit, prolonging the service life of the storage unit and the like.
Further, the carrying assembly further comprises a first carrying mechanism arranged in the storage area; the first carrying mechanism comprises first linear driving devices arranged on two opposite sides of the storage area, and a storage area of the storage unit in the storage area is arranged between the two first linear driving devices; and the first linear driving device is fixedly connected with a first pushing piece, and the first pushing piece can enter the groove. The relative both sides in the storage area set up first linear drive device, the storage unit is located between two first linear drive device, the first linear drive device of both sides drives the first impeller action of both sides respectively, when two first impellers moved to the outside from the storage area is inside, can promote the storage unit wholly outside the storage area, because unmanned aerial vehicle places on the storage unit, consequently realized promptly with unmanned aerial vehicle transport to the effect on the transfer unit. In addition, the first conveying mechanism in the scheme can be relayed with the second conveying mechanism when the storage unit enters and exits the storage area, namely the first conveying mechanism conveys one distance, and the second conveying mechanism conveys the other distance, so that the operation pressure of a single conveying mechanism is reduced, and a more stable conveying effect is realized.
Furthermore, the first linear driving device is an annular first synchronous belt driven by a first power source to rotate, and the first pushing piece extends towards the outer side of the first synchronous belt.
The first power source directly or indirectly drives the first synchronous belt to rotate, and drives the first pushing piece positioned on the outer side of the first synchronous belt to move synchronously. This scheme uses first synchronous belt as first linear drive device, can rotate first impeller to the one side that deviates from another first synchronous belt place direction when need not promote the storage unit to can not cause any interference to the storage unit under normal standby state and unmanned aerial vehicle on it. When the storage unit needs to be carried, the first synchronous belt is started, the first pushing piece is made to rotate to a direction close to the other first synchronous belt (namely the direction of the center position of the storage unit), the storage unit can be pushed from two sides simultaneously, and the effect of carrying the mobile unit is achieved. The theoretical pushing distance of the first pushing member is the length of one side of the first synchronous belt. This scheme compares with the technique that uses direct follow rear promotion such as pneumatic cylinder, not only can guarantee more stable handling, has still avoided occuping the degree of depth space of storage area, can realize above-mentioned handling through set up the first synchronous belt that occupies an area of minimumly in storage area both sides, is showing and is improving space utilization. In addition, the scheme uses the first synchronous belts on two sides to respectively drive the two first pushing pieces to do rotary motion, and the recovery and resetting of the first pushing pieces are realized by the rotation of the outer sides of the first synchronous belts, so that the process cannot cause any interference on the pushed storage units; and the acting force of the two first pushing pieces on the storage unit is completely consistent with the required moving direction of the storage unit, and any extrusion clamping cannot be generated, so that the storage unit has remarkable effects of protecting the storage unit, reducing the abrasion of the storage unit, prolonging the service life of the storage unit and the like.
In the scheme, the grooves formed in the four corners of the storage unit are used for providing position space for the first pushing member or/and the second pushing member. The storage unit takes the square shape facing the inside of the storage area as the inner side and takes the direction facing the transfer unit as the outer side, when no man needs to take off, the two pushing pieces respectively enter the two grooves on the inner side of the storage unit, and at the moment, the two pushing pieces are moved to drive the whole storage unit to move; in a similar way, after unmanned aerial vehicle fell, two impeller got into two recesses of the storage unit outside respectively, removed two impeller this moment and can drive whole storage unit and remove. This scheme is through the setting of above-mentioned four recesses, can make the storage unit no matter in the storage area or on the transfer unit, all can reach the limit of its position, inwards deepest or outside furthest position promptly, if inwards can make the storage unit support the bottom of storage area depth direction, outwards can make the storage unit arrive the maximum position of transfer unit width direction, the location degree of difficulty to the storage unit has been showing and has been reduced, the removal space and the scope of maximum degree have been provided for the storage unit simultaneously, make the storage unit can keep away from the storage area as far as possible when unmanned aerial vehicle takes off, when unmanned aerial vehicle falls to retrieve, the storage unit can keep away from the transfer unit as far as possible.
Furthermore, first slide rails are arranged on two opposite sides of the storage area, and second slide rails are arranged on two opposite sides of the transfer unit; the first slide rails and the second slide rails are equal in height, and the two first slide rails and the two second slide rails correspond to each other one by one; the storage unit can move on the first sliding rail and the second sliding rail. And the two first sliding rails of the storage area are respectively used for being butted with the two second sliding rails on the transfer unit. When the unmanned aerial vehicle needs to take off, the first pushing piece pushes the storage unit outwards along the first sliding rail, the storage unit gradually transits from the first sliding rail to the second sliding rail, and continues to move along the second sliding rail until the storage unit is completely positioned on the second sliding rail; after unmanned aerial vehicle falls, the second impeller will store the unit and inwards promote along the second slide rail, store the unit and transition from the second slide rail to first slide rail gradually on, continue to remove along first slide rail until the storage unit is located first slide rail completely.
Further, a sliding part or a rolling part is arranged at the bottom of the storage unit, and the sliding part or the rolling part can be in sliding fit or rolling fit with the first sliding rail and the second sliding rail. When the bottom of the storage unit is provided with the sliding part, the sliding part can be in sliding fit with the first sliding rail and the second sliding rail; when the bottom of the storage unit is provided with the rolling part, the rolling part can be matched with the first sliding rail and the second sliding rail in a rolling way.
Furthermore, the device also comprises a third linear driving device, and the third linear driving device is used for driving the whole storage area to be close to and far away from the transfer unit. In the process of further research, the inventor finds that, for the unmanned aerial vehicle hangar, seamless connection between the storage area and the transfer unit may not be achieved in actual design, a large gap is easy to exist between the storage area and the transfer unit, and in severe cases, normal exchange of the storage unit between the storage area and the transfer unit may even be affected. Therefore, the third linear driving device is arranged in the storage area, and when the storage unit needs to be carried (namely when the unmanned aerial vehicle needs to take off or the unmanned aerial vehicle needs to be recovered after falling), the third linear driving device is used for driving the storage area to be integrally close to the transfer unit; after taking off or landing operation to unmanned aerial vehicle completely, the storage area is in the state of awaiting orders, and it can to keep away from the transfer unit this moment through the whole storage area of third linear driving device drive. This scheme is particularly useful for only realizing the business turn over handling process of storage unit through second handling mechanism.
Further, the storage device further comprises a locking mechanism arranged on the storage area and/or the transfer unit, wherein the locking mechanism is used for locking the storage unit. When the storage unit is stored in the storage area, the storage unit needs to keep self stability so as to maintain the stability of the unmanned aerial vehicle borne by the storage unit; similarly, the storage unit also needs to keep self-stability when the transfer unit is up to ensure that unmanned aerial vehicle can take off and land under a stable platform environment. Therefore, the scheme is that corresponding locking mechanisms are particularly arranged on the storage area and/or the transfer unit and used for locking the storage unit when needed, and stable platform conditions are created for halt, standby, take-off and landing of the unmanned aerial vehicle.
According to the transfer mechanism, the transfer unit is additionally arranged and the carrying assembly is matched, so that the aim of enabling the unmanned aerial vehicle to enter and exit the storage area of the hangar can be fulfilled without using manpower or by means of external cranes and other instruments, and the problem that the storage unit in the prior art is difficult to efficiently enter and exit the hangar of the unmanned aerial vehicle on site is solved.
The transfer mechanism also overcomes the defects that the taking-off and landing modes of large unmanned aerial vehicles in the prior art are single and the taking-off and landing modes are single due to the fact that the large unmanned aerial vehicles only can take off and land directly in the unmanned aerial vehicles, so that the taking-off and landing of the unmanned aerial vehicles can be carried out outside the storage area, the situations that the unmanned aerial vehicles influence and interfere with other unmanned aerial vehicles and even collide with other unmanned aerial vehicles are avoided, a more diversified taking-off and landing mode is created for the large unmanned aerial vehicle hangar, and a prerequisite condition is provided for optimizing the taking-off and landing of.
The transfer mechanism uses the synchronous belts on two sides as the linear driving device of the storage unit, and can rotate the corresponding pushing piece to one side deviating from the direction of the other corresponding synchronous belt when the storage unit is not required to be pushed, so that the storage unit, the transfer unit and the unmanned aerial vehicle on the transfer unit in a normal standby state cannot be interfered, a more stable carrying process can be ensured, the occupied depth or width space is avoided, and the space utilization rate is obviously improved. The pushing mode of the invention can not cause any interference to the storage unit, the acting force of the two corresponding pushing pieces to the storage unit is completely consistent with the moving direction required by the storage unit, and any extrusion clamping can not be generated, thus having remarkable effects on protecting the storage unit, reducing the abrasion of the storage unit, prolonging the service life of the storage unit and the like.
According to the transfer mechanism, the storage unit can reach the limit of the position of the storage unit no matter in the storage area or on the transfer unit through the arrangement of the four corner notches of the storage unit, namely, the deepest inward position or the farthest outward position, the positioning difficulty of the storage unit is obviously reduced, meanwhile, the maximum moving space and range are provided for the storage unit, the storage unit can be far away from the storage area as far as possible when the unmanned aerial vehicle flies, and the storage unit can be far away from the transfer unit as far as possible when the unmanned aerial vehicle falls and returns.
The transfer mechanism solves the problems that seamless connection can not be realized between the storage area and the transfer unit, a larger gap is easy to exist between the storage area and the transfer unit, and normal exchange of the storage unit between the storage area and the transfer unit can be influenced even in serious cases through the third linear driving device.
The transfer mechanism is provided with corresponding locking mechanisms on the storage area and/or the transfer unit, and is used for locking the storage unit when needed, so that stable platform conditions are created for halt, standby, take-off and landing of the unmanned aerial vehicle.
The invention provides a W-shaped clamping plate for guiding the unmanned aerial vehicle to be stored, and aims to solve the problems that the unmanned aerial vehicle is easy to incline, deviate or even incline and turn over due to the W-shaped clamping plate in the prior art and the universality is poor, and the purposes of obviously improving the stability and reliability of the clamping plate when pushing a foot rest and improving the universality of the W-shaped clamping plate are achieved.
The W splint is realized by the following technical scheme:
the W-shaped clamping plate for guiding the unmanned aerial vehicle to be stored comprises a plate body, wherein the plate body comprises three protruding ends, a sunken end is arranged between every two adjacent protruding ends, and the upper surface of the plate body between every two adjacent protruding ends and the upper surface of the plate body between every two adjacent sunken ends are inclined downwards from the protruding ends to the sunken ends; and moving parts are arranged between the adjacent protruding ends and the adjacent sunken ends and are connected to the side wall of the plate body in a sliding mode.
Aiming at the problem that the W clamp plate in the prior art easily causes the unmanned aerial vehicle to incline, shift and even incline and turn over, the invention firstly provides the W clamp plate for guiding the unmanned aerial vehicle to be stored, wherein the inclined shift refers to the movement of the unmanned aerial vehicle in a two-dimensional horizontal plane, and the incline and turn refers to the movement of the unmanned aerial vehicle in a three-dimensional space. The utility model provides a be a sunk end between three protruding end altogether, two arbitrary adjacent protruding ends on the plate body, three protruding end and two sunk ends form the W shape jointly. One of the invention points of the present application is that the upper surface of the plate body is not a traditional plane shape, but is configured as a multi-section inclined surface structure, specifically, the upper surface of the plate body uses the position of any protruding end as a starting point, and inclines downwards to the position of the adjacent recessed end on one side or two sides to form an inclined surface, and meanwhile, the edge side wall of the inclined surface is connected with the moving part in a sliding manner, so that the moving part can freely slide downwards along the inclined surface under the action of gravity. For any sunken end, the movable parts on the two sides of the sunken end always tend to converge towards the sunken end under the action of gravity. When the foot rest of the unmanned aerial vehicle enters the sunken end, the movable parts on the two sides are gathered towards the foot rest and abut against the two sides of the foot rest, the acting force of the movable parts on the foot rest is parallel to the inclined plane matched with the movable parts, and the acting force can be decomposed into component forces in the horizontal direction and the vertical direction; the horizontal component force is offset under the ideal condition that the masses of the moving parts on the two sides are equal and the static friction force of the plate body is equal, and the vertical component force has the following two effects: 1. the component forces in the vertical directions of the two sides are superposed to form a larger resultant force in the vertical direction, the resultant force indirectly acts on the plate body, so that the pressure exerted by the foot rest on the plate body is larger, and according to a static friction force formula, on the premise of a static friction coefficient, the larger the pressure is, the larger the static friction force is, so that the static friction force between the foot rest and the plate body is larger, and the phenomena of inclination, deviation and the like of the foot rest are more difficult to occur; 2. the component force stack of the vertical direction of both sides forms the resultant force of bigger vertical direction, and this resultant force directly acts on the foot rest, can regard as the foot rest to receive except that the gravity additional vertical decurrent exogenic action to make the foot rest more difficult to take place local upwarp phenomenon, show the performance that reduces the crooked upset of unmanned aerial vehicle with this. The invention can be seen that the problem that the unmanned aerial vehicle is inclined, deviated, inclined and overturned easily due to the W clamping plate in the prior art is solved by arranging the upper surface of the W clamping plate body and arranging the corresponding moving part, the technical effect is automatically realized by completely depending on gravity, and the unmanned aerial vehicle has the advantages of simple structure, obvious effect, energy conservation and environmental protection. Of course, the larger the mass of the moving part in the application, the more obvious the effect, and the material and the size of the moving part can be reasonably selected by the technical personnel in the field according to the needs. In addition, this application is please because the moving part of sunken end both sides can freely slide, consequently the interval between two moving parts can carry out the adjustment of adaptability according to the unmanned aerial vehicle scaffold size that corresponds for this application can be used for depositing the unmanned aerial vehicle of different size models and guide, compares in prior art and has showing the improvement universality.
Further, a telescopic rod is arranged on the movable piece and extends towards the direction of the concave end; the axes of the telescopic rods at the two sides of any one concave end are intersected. In the further research process, the applicant finds that the movable parts on the two sides of the recessed end are easy to mutually support together before the foot rest enters the recessed end, and although the foot rest can push the two movable parts to the two sides after entering, the process has uncertainty after all, and even the two movable parts can push the foot rest upwards to intensify the upwarp phenomenon of the foot rest; in order to optimize the movable parts, each movable part is provided with a telescopic rod, the telescopic direction of each telescopic rod faces the direction of the corresponding downward sliding concave end of the movable part, and the axes of the telescopic rods on the two sides of any concave end are intersected, so that the two telescopic rods are abutted in front of the concave end by extending the telescopic rods on the two sides before the foot rest enters the concave end, the two movable parts are pushed upwards along the inclined planes of the plate bodies on the two sides, and a space for the foot rest to enter is formed between the two movable parts; after the foot rest enters the space, the two telescopic rods are rapidly contracted at the same time, and the movable parts on the two sides can freely slide downwards under the action of gravity until the movable parts abut against the two sides of the foot rest respectively.
Further, the one end that the moving part that corresponds was kept away from to the telescopic link sets up induction system, induction system is used for responding to unmanned aerial vehicle's foot rest. When the sensing device on the telescopic rod senses the foot rest, the telescopic rod is immediately controlled to contract. The sensing device can use any sensing technology in the prior art, such as infrared sensing technology, laser sensing technology, distance measuring technology, contact switches and the like.
Furthermore, the cross-section of moving part is the C type, and the upper end and the plate body sliding connection of moving part have the clearance between the lower extreme of moving part and the plate body, the telescopic link is fixed in the clearance. The open end of the C-shaped piece is buckled on the plate body, and the upper end of the C-shaped piece is used for being connected with the plate body in a sliding mode. The lower extreme of C type and the plate body between not laminating, have the clearance between them, come to provide the installation station for the telescopic link through this clearance, not only ensured the fixed connection between telescopic link and the moving part, can also provide the protection protective screen for the telescopic link through the indent structure of C type spare, avoid the telescopic link to receive descending unmanned aerial vehicle's collision damage.
Furthermore, the upper surface of the movable piece is parallel to the upper surface of the corresponding plate body; the movable piece and the plate body are in sliding connection through the sliding grooves and the sliding blocks which are matched with each other.
When a foot rest of the unmanned aerial vehicle enters the sunken end, moving parts on two sides are gathered towards the foot rest and abut against two sides of the foot rest, the acting force of the moving parts on the foot rest is parallel to an inclined plane matched with the moving parts, and the acting force can be decomposed into component forces in the horizontal direction and the vertical direction; the component forces in the vertical directions of the two sides are superposed to form a larger resultant force in the vertical direction, the resultant force indirectly acts on the plate body, so that the pressure applied by the foot rest on the plate body is larger, and according to a static friction force formula, on the premise of a static friction coefficient, the larger the pressure is, the larger the static friction force is, so that the phenomena of larger static friction force between the foot rest and the plate body, inclination, deviation and the like of the foot rest are more difficult to occur.
According to the W-shaped clamping plate for guiding the unmanned aerial vehicle to be stored, the component forces in the vertical directions of the two sides are superposed to form a larger resultant force in the vertical direction, the resultant force directly acts on the foot rest, and the foot rest can be considered to be subjected to an additional vertical downward external force effect except the gravity, so that the foot rest is more difficult to generate a local upwarp phenomenon, and the possibility of the unmanned aerial vehicle tilting and overturning is remarkably reduced.
According to the W clamping plate for guiding the unmanned aerial vehicle to be stored, the problem that the unmanned aerial vehicle is inclined, deviated, inclined and overturned easily due to the W clamping plate in the prior art is solved through arrangement of the upper surface of the plate body of the W clamping plate and arrangement of the corresponding movable part, the technical effect is realized automatically completely depending on gravity, and the W clamping plate has the advantages of simple structure, remarkable effect, energy conservation and environmental protection.
According to the W clamping plate for guiding the unmanned aerial vehicle to be stored, the movable parts on the two sides of the sunken end can freely slide, so that the distance between the two movable parts can be adaptively adjusted according to the corresponding foot stool size of the unmanned aerial vehicle, the W clamping plate can be used for guiding the unmanned aerial vehicle to be stored in different sizes, and the universality is obviously improved compared with the prior art.
One or more technical schemes provided by the invention at least have the following technical effects or advantages:
the method can realize the automatic and intelligent landing of the unmanned aerial vehicle based on the automatic unmanned aerial vehicle warehouse, avoids the traditional manual large-scale participation in the landing process, improves the landing efficiency of the unmanned aerial vehicle, reduces the probability of landing faults, and can automatically correct and adjust the landing position of the unmanned aerial vehicle.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention;
FIG. 1 is a schematic view of the unmanned aerial vehicle landing process of the unmanned aerial vehicle automatic hangar of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an embodiment of the present invention;
FIG. 4 is a partial schematic view of a transfer mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic view of the transfer mechanism with the conveyor belt rotating forward according to the embodiment of the present invention;
FIG. 6 is a schematic view of a transfer mechanism with a belt rotating in a reverse direction according to an embodiment of the present invention;
FIG. 7 is a schematic view of an embodiment of the present invention as mounted on a library body;
FIG. 8 is a schematic structural diagram of a transfer mechanism according to an embodiment of the present invention;
FIG. 9 is an enlarged view of a portion of FIG. 8 at A;
FIG. 10 is a schematic structural diagram of an embodiment of the present invention;
FIG. 11 is an enlarged view of a portion of FIG. 10 at B;
FIG. 12 is a schematic diagram of a structure of a storage region according to an embodiment of the present invention;
FIG. 13 is a cross-sectional view of a locking mechanism in an embodiment of the invention;
FIG. 14 is a schematic view of a locking mechanism in an operative condition in accordance with an embodiment of the present invention.
FIG. 15 is a schematic view of another embodiment of a transfer mechanism according to the present invention;
FIG. 16 is a schematic structural view of an embodiment of the W splint of the present invention;
FIG. 17 is a side view of an embodiment of the W clamp of the present invention;
FIG. 18 is a sectional view taken along the line A-A in FIG. 17;
fig. 19 is a partial enlarged view at B in fig. 17;
FIG. 20 is a schematic structural view of a guide assembly of the present invention;
FIG. 21 is an enlarged view of a portion of FIG. 20 at C;
22-door panel, 23-jacking mechanism, 24-lifting platform, 25-telescoping device, 26-conveyor belt, 27-plectrum, 28-first driving device, 29-driving wheel, 30-driven wheel, 31-third sliding rail, 32-mounting piece, 33-guide wheel, 34-storage unit, 35-transfer unit, 36-first linear driving device, 37-first pushing piece, 38-second linear driving device, 39-second pushing piece, 40-first power source, 41-second power source, 42-first sliding rail, 43-second sliding rail, 44-notch, 45 a-groove, 45 b-jack, 46-outer barrel, 47-inner barrel, 48-spring and 49-electric telescopic rod, 50-sensing device, 51-plate body, 52-convex end, 53-concave end, 54-movable piece, 55-telescopic rod, 56-sensing device, 57-platform and 58-limiting piece.
Detailed Description
Example one
Referring to fig. 1, a first embodiment of the present invention provides an unmanned aerial vehicle landing method based on an automatic unmanned aerial vehicle hangar, where the automatic unmanned aerial vehicle hangar is provided with a plurality of unmanned aerial vehicle storage areas, each unmanned aerial vehicle storage area corresponds to an unmanned aerial vehicle storage unit, and each unmanned aerial vehicle storage area is provided with a locking device for fixing the unmanned aerial vehicle storage unit, and the method includes:
step 1: unmanned aerial vehicle descending order is received to automatic hangar of unmanned aerial vehicle, wherein, includes in the unmanned aerial vehicle descending order: landing the unmanned aerial vehicle number m and the corresponding unmanned aerial vehicle storage unit number n;
step 2: detecting the state of an automatic unmanned aerial vehicle hangar door, if the automatic unmanned aerial vehicle hangar door is in a closed state, opening the automatic unmanned aerial vehicle hangar door, and enabling a transplanting jacking mechanism on the hangar door to be horizontal;
and step 3: the transplanting jacking mechanism is lifted to a position corresponding to the unmanned aerial vehicle storage unit with the number n;
and 4, step 4: a locking device in the unmanned aerial vehicle storage area unlocks an unmanned aerial vehicle storage unit;
and 5: the transplanting jacking mechanism shifts the unmanned aerial vehicle storage unit with the number n out of the corresponding unmanned aerial vehicle storage area to be right above the transplanting jacking mechanism;
step 6: the transplanting jacking mechanism carries the unmanned aerial vehicle storage unit with the number n to rise to a landing point, obstacle detection is carried out on the upper surface of the unmanned aerial vehicle storage unit with the number n, the unmanned aerial vehicle landing process is stopped if the obstacle exists, and the unmanned aerial vehicle landing process is continued if the obstacle does not exist;
and 7: the unmanned aerial vehicle numbered m lands on the unmanned aerial vehicle storage unit numbered n, whether the unmanned aerial vehicle exceeds the unmanned aerial vehicle storage unit is detected after landing, if yes, an alarm is given, and if not, the step 8 is executed;
and 8: correcting the position of the unmanned aerial vehicle with the number m;
and step 9: the unmanned aerial vehicle storage unit with the number n locks the unmanned aerial vehicle with the number m;
step 10: the transplanting jacking mechanism carries the unmanned aerial vehicle storage unit with the number n to descend to a position corresponding to the unmanned aerial vehicle storage unit with the number n;
step 11: transplanting climbing mechanism removes the unmanned aerial vehicle memory cell that the serial number is n to corresponding unmanned aerial vehicle memory area in, and locking device in the unmanned aerial vehicle memory area locks unmanned aerial vehicle memory cell, and the unmanned aerial vehicle memory cell that the serial number is n after the locking carries out wireless charging to the unmanned aerial vehicle that the serial number is m.
The principle of the unmanned aerial vehicle automatic storage system is based on the unmanned aerial vehicle automatic storage system, automatic and intelligent landing of an unmanned aerial vehicle is achieved through the unmanned aerial vehicle automatic storage system, a plurality of unmanned aerial vehicle storage areas are arranged in the unmanned aerial vehicle automatic storage system, each unmanned aerial vehicle storage area corresponds to one unmanned aerial vehicle storage unit, each unmanned aerial vehicle storage unit is used for storing the corresponding unmanned aerial vehicle, each unmanned aerial vehicle storage area is provided with a locking device used for fixing the unmanned aerial vehicle storage unit, the unmanned aerial vehicle storage units can be fixed through the locking devices, and collision and shaking are avoided.
The method comprises the following steps of: an unmanned aerial vehicle automatic hangar automatically generates an unmanned aerial vehicle landing instruction; the automatic hangar door of the unmanned aerial vehicle is automatically opened and closed; automatically lifting and lowering the transplanting jacking mechanism to corresponding positions; the locking device automatically releases and locks the storage unit of the unmanned aerial vehicle; and automatic landing of the unmanned aerial vehicle; the unmanned aerial vehicle storage unit is automatically moved out of and into the corresponding unmanned aerial vehicle storage area by the transplanting jacking mechanism; the automatic and intelligent landing of the unmanned aerial vehicle is realized through the automatic and intelligent operation, the position of the unmanned aerial vehicle can be automatically adjusted and corrected, the traditional manual landing process is avoided being greatly participated in, the landing efficiency of the unmanned aerial vehicle is improved, the probability of landing faults is reduced, and meanwhile, the landing position of the unmanned aerial vehicle can be automatically corrected and adjusted.
In a first embodiment, the method further includes, before step 1, the steps of:
after the unmanned aerial vehicle finishes the operation task, sending an operation task finishing instruction to the unmanned aerial vehicle management background;
and the unmanned aerial vehicle management background generates an unmanned aerial vehicle landing instruction based on the operation task completion instruction and sends the unmanned aerial vehicle landing instruction to an unmanned aerial vehicle automatic hangar.
In the first embodiment, the unmanned aerial vehicle can be uniformly managed by using the unmanned aerial vehicle management background, so that intelligent control and management are realized.
Preferably, the method further comprises:
after all unmanned aerial vehicles finish descending, the transplanting jacking mechanism is retracted, and a garage door of the unmanned aerial vehicle automatic garage is closed;
wirelessly charging the unmanned aerial vehicle with the residual electric quantity lower than a threshold value in the automatic unmanned aerial vehicle warehouse;
and the unmanned aerial vehicle automatic hangar moves to a corresponding destination.
In the first embodiment, the unmanned aerial vehicle in the method is charged in a wireless mode, the remaining power is fed back to the unmanned aerial vehicle automatic hangar after the unmanned aerial vehicle falls, the unmanned aerial vehicle automatic hangar judges whether the remaining power is smaller than a threshold value or not after receiving the information of the remaining power of the unmanned aerial vehicle, and if the remaining power is smaller than the threshold value, the unmanned aerial vehicle automatic hangar is automatically charged.
In a first embodiment, the method for detecting the obstacle on the upper surface of the storage unit of the unmanned aerial vehicle, which is numbered n, includes any one of the following methods: identifying whether an obstacle exists on the upper surface of the storage unit of the unmanned aerial vehicle in an image identification mode; detecting obstacles by using a laser radar; when the upper surface of the storage unit of the unmanned aerial vehicle is detected to have the obstacle, the method gives an alarm and cleans the obstacle, and the obstacle detection is continued after the obstacle is cleaned. Can influence unmanned aerial vehicle's normal descending when the barrier, make unmanned aerial vehicle the potential safety hazard appears, carry out the security that the barrier detected and can improve unmanned aerial vehicle and descend.
In a first embodiment, before step 1, the method further includes:
monitoring the external environment of the automatic unmanned aerial vehicle hangar to obtain external environment parameters;
judging whether the external environment parameters meet the landing requirements of the unmanned aerial vehicle, and if not, suspending the landing process of the unmanned aerial vehicle; and if the takeoff requirement is met, starting the unmanned aerial vehicle landing process.
Wherein, when unmanned aerial vehicle carries out the descending task, utilize the automatic hangar external environment of unmanned aerial vehicle to monitor, the purpose obtains external environment parameter, and it is not influenced to guarantee that unmanned aerial vehicle can normally descend through the monitoring to external environment, avoids appearing flight accident or trouble, guarantees the security that unmanned aerial vehicle descends. Such as temperature parameters, humidity parameters, wind power parameters, weather parameters, etc.
The power supply mode of unmanned aerial vehicle memory cell in the automatic hangar of unmanned aerial vehicle is the contact power supply in this embodiment, through with the contact with separately realize the power supply and the outage of unmanned aerial vehicle memory cell.
Wherein, in embodiment one, the automatic hangar of unmanned aerial vehicle is equipped with a plurality of storehouse door, all is equipped with one or more on every storehouse door and transplants climbing mechanism, when needs carry out unmanned aerial vehicle descending task, at first judge whether have to transplant climbing mechanism and be in idle state, if have then select idle transplantation climbing mechanism and carry out unmanned aerial vehicle descending task, if do not then add into the task queue with corresponding unmanned aerial vehicle descending task, carry out corresponding unmanned aerial vehicle descending task based on task queue sequencing.
Wherein, in the first embodiment, the design purpose of this step is to realize simultaneous landing of multiple unmanned aerial vehicles, when multiple unmanned aerial vehicles need to be landed simultaneously, first traverse all transplanting jacking mechanisms in the unmanned aerial vehicle automatic hangar, find the idle transplanting jacking mechanism, judge whether the number of idle transplanting jacking mechanisms is larger than the number of unmanned aerial vehicles required to land at present, if so, select the corresponding transplanting jacking mechanism from the idle transplanting jacking mechanisms, and move the corresponding unmanned aerial vehicle out of the storage unit and lift it to the landing point for landing, if the number of idle transplanting jacking mechanisms is smaller than the number of unmanned aerial vehicles required to land at present, add the corresponding unmanned aerial vehicle landing tasks into the task queue, execute the corresponding unmanned aerial vehicle landing tasks based on the task queue sequencing, execute the corresponding landing tasks when new idle transplanting jacking mechanisms appear, through the mode, the simultaneous landing process of multiple unmanned aerial vehicles can be realized, and the efficiency of landing and operation of the unmanned aerial vehicle is improved.
In the first embodiment, the unmanned aerial vehicle storage unit locks or unlocks the unmanned aerial vehicle foot stand through the unmanned aerial vehicle foot stand locking mechanism. After unmanned aerial vehicle fell, utilize unmanned aerial vehicle foot rest locking mechanism to lock the unmanned aerial vehicle foot rest, can ensure that unmanned aerial vehicle is fixed firm through locking, guarantee unmanned aerial vehicle's safety, unmanned aerial vehicle takes off after unmanned aerial vehicle foot rest locking mechanism contact locking when needs take off.
In a first embodiment, the method further includes step 12: and obtaining a time interval T1 between the next unmanned aerial vehicle takeoff task execution time and the current time, obtaining a time interval T2 between the next unmanned aerial vehicle landing task execution time and the current time, if TI and T2 are both greater than a threshold value, generating a reminding warehouse door closing message, and generating the reminding warehouse door closing message to be used as an operation end of the unmanned aerial vehicle automatic warehouse.
Wherein, in embodiment one, the purpose of this step design is when carrying out unmanned aerial vehicle descending task, the storehouse door of unmanned aerial vehicle automatic hangar is open state, if the interval time that next unmanned aerial vehicle descends is longer, or this unmanned aerial vehicle carries out the task required time longer, then close the storehouse door of unmanned aerial vehicle automatic hangar, the purpose is to open the storehouse door of unmanned aerial vehicle automatic hangar for a long time and has corresponding potential safety hazard, design like this can protect unmanned aerial vehicle and the equipment in the unmanned aerial vehicle automatic hangar.
In a first embodiment, before step 1, the method further includes:
unmanned aerial vehicle automatic hangar receives unmanned aerial vehicle operation task from unmanned aerial vehicle management backstage, and unmanned aerial vehicle automatic hangar carries out the analysis to unmanned aerial vehicle operation task and obtains unmanned aerial vehicle descending instruction, unmanned aerial vehicle descending instruction still includes unmanned aerial vehicle descending moment, carries out unmanned aerial vehicle descending flow when reaching unmanned aerial vehicle descending moment.
In a first embodiment, the method further includes detecting the unmanned aerial vehicle after landing, and maintaining the unmanned aerial vehicle if the unmanned aerial vehicle is detected to be abnormal. Unmanned aerial vehicle has probably appeared the trouble or the not hard up maintenance that needs of some parts after carrying out the task, can ensure next safe flight after the maintenance.
Example two
As shown in fig. 2 and fig. 3, the inner wall of the door panel 22 is provided with a jacking mechanism 23, one end of the jacking mechanism 23 away from the door panel 22 is connected with a lifting platform 24, and the lifting platform 24 is provided with a transfer mechanism; the landing platform 24 is used for carrying the unmanned aerial vehicle; the jacking mechanism 23 is used to move the landing platform 24 closer to and further away from the door panel 22; the transfer mechanism is used to move the drone into and out of the landing platform 24. The bottom edge of the door plate 22 is hinged with the side surface of the hangar; the inner wall of the door plate 22 is also hinged with a telescopic device 25, and one end of the telescopic device 25, which is far away from the door plate 22, is used for being hinged with the side surface of the hangar. The upper surfaces of the landing platforms 3-24 are parallel to the inner side walls of the door panel 22; the lifting platform 24 and the jacking mechanism 23 form a scissor type lifting platform together.
Example three:
as shown in fig. 2 to 7, on the basis of the second embodiment, the present embodiment optimizes the transfer mechanism, specifically: the transfer mechanism comprises a conveying belt 26 capable of reciprocating, and a shifting sheet 27 is fixedly connected to the conveying belt 26; a first drive means 28 for driving the conveyor belt 26 is also included. The first driving device 28 is a motor, and the conveyor belt 26 is a chain or a belt; the belt 26 rotates around a driving wheel 29 and a driven wheel 30, and the first driving device 28 drives the driving wheel 29 to rotate. The garage door further comprises a third slide rail 31 fixed on the lifting platform 24, wherein one end of the third slide rail 31 extends out of the lifting platform 24, and the end extends towards the interior direction of the garage body when the garage door is opened. The driving device further comprises a mounting part 32 connected to the third slide rail 31 in a sliding manner, the first driving device 28 is fixed relative to the mounting part 32, and the driven wheel 30 is connected to the mounting part 32 in a rotating manner; a second drive means for driving the mount 32 along the third slide rail 31 is also included. The end of the paddle 27 remote from the conveyor belt 26 is rotatably connected to the guide wheel 33. Two transfer mechanisms are arranged on one lifting platform 24, and the two transfer mechanisms are respectively distributed on two opposite side edges of the lifting platform 24. The second driving device is not shown in the drawings, and any slide rail and slide block driving manner in the prior art can be used as the second driving device. The first driving device 28 and the mounting member 32 are fixed relative to each other, for example, by a connecting rod passing through the mounting member, and a waist-shaped hole matched with the connecting rod is formed in the mounting plate. The arrow direction in fig. 5 and 6 indicates the moving direction of the side conveyor 26.
Preferably, as shown in fig. 4, the third slide rail 31 is the ascending recess form of opening, and the installed part 32 bottom sets up two locating plates that are parallel to each other, and two locating plates are just in time laid in the recess on the third slide rail 31, can not take place to rock about to set up a plurality of gyro wheels between two locating plates, the gyro wheel cooperates with the roll of the third slide rail 31 of recess form, ensures that the installed part 32 can stabilize quick removal along the third slide rail 31.
Example four
In the present embodiment, the transfer mechanism is optimally designed, as shown in fig. 8 to 12, the transfer mechanism includes a storage unit 34 located in the storage area, and a transfer unit 35 for docking with the storage unit 34; and a handling assembly located within the storage area and on the transfer unit 35 for handling the storage unit 34 between the storage area and the transfer unit 35. The carrying assembly comprises a second carrying mechanism arranged on the transfer unit 35 and notches 44 positioned at the corners of the storage unit 34; the second carrying mechanism comprises second linear driving devices 38 arranged at two opposite sides of the transfer unit 35, and a storage area of the storage unit 34 on the transfer unit 35 is formed between the two second linear driving devices 38; two second pushing pieces 39 are fixedly connected to the second linear driving device 38; the second pusher 39 is able to enter the notch 44. The second linear driving device 38 is an annular second synchronous belt driven by a second power source 41 to rotate, and the second pushing member 39 is a lug extending to the outer side of the second synchronous belt. The carrying assembly further comprises a first carrying mechanism arranged in the storage area; the first carrying mechanism comprises first linear driving devices 36 arranged at two opposite sides of the storage area, and a storage area of the storage unit 34 in the storage area is arranged between the two first linear driving devices 36; a first pushing member 37 is fixedly connected to the first linear driving device 36, and the first pushing member 37 can enter the notch 44. The first linear driving device 36 is an annular first synchronous belt driven by a first power source 40 to rotate, and the first pushing member 37 extends to the outer side of the first synchronous belt. The storage unit 34 is square, and the notches 44 are located at two ends of two opposite sides of the storage unit 34.
In this embodiment, the notch 44 may be replaced with a groove 45a as shown in fig. 15.
In this embodiment, the storage unit 34 and the transfer unit 35 are both flat plates, and the bottom surface of the storage unit 34 is flush with the top surface of the transfer unit 35, so that the storage unit 34 can be stably moved and transported between the storage area and the transfer unit 35.
Preferably, in the embodiment, the first synchronous belt and the second synchronous belt both use chains with stronger rigidity; the first power source 40 and the second power source 41 are both servo motors, and respectively provide power for the first synchronous belt and the second synchronous belt through a speed reducer and a reversing mechanism.
The present embodiment further includes a third linear driving device for driving the storage area to be close to and far from the transfer unit 35 as a whole. First slide rails 42 are arranged on two opposite sides of the storage area, and second slide rails 43 are arranged on two opposite sides of the transfer unit 35; the first slide rail 42 and the second slide rail 10-43 have the same height, and the two first slide rails 42 correspond to the two second slide rails 43 one by one; the storage unit 34 is movable on a first slide rail 42 and a second slide rail 43. The bottom of the storage unit 34 is provided with a roller capable of rolling and matching with the first slide rail 42 and the second slide rail 43.
Example five:
as shown in fig. 15, a transfer mechanism is different from the fourth embodiment in that the second conveying mechanism is only provided on the transfer unit 35, the first conveying mechanism in the storage area is not provided, and the storage unit can be moved into and out of the storage area by the second conveying mechanism. Specifically, two second pushing members 39 are arranged on each second synchronous belt, and when a first second pushing member 39 enters a first groove 45a, the storage unit starts to move; as the second pushing member 39 moves to the end of the one-way stroke and needs to turn, in the process, the second pushing member 39 gradually disengages from the groove 45a matched with the second pushing member 39, but at the same time, the other second pushing member 39 enters into the other groove 45a on the same side, so that the storage unit is pushed continuously, and the relay transportation of the two second pushing members 39 is realized.
Example six:
in addition to the fourth or fifth embodiment, the transfer mechanism of the present embodiment further includes a locking mechanism on the storage area and the transfer unit 35, and the locking mechanism is used for locking the storage unit 34.
Fig. 13 and 14 show the locking mechanism on the relay unit 35, and the locking mechanism in the storage area is identical to the locking mechanism. Specifically, the locking mechanism shown in fig. 13 and 14 includes an insertion hole 45b starting at the bottom of the storage unit 34, and an outer cylinder 46 and an inner cylinder 47 slidably fitted in the second slide rail 43, wherein the bottom of the outer cylinder 46 is fixed in the second slide rail 43, and the inner cylinder 47 protrudes from the top of the outer cylinder 46; the inner cylinder 47 is connected with the inside of the second slide rail 43 from the outside by a spring 48, and when no external force is applied, that is, the spring 48 is in a natural state, the inner cylinder 47 extends from the upper side of the second slide rail 43. And the electric telescopic rod 49 is positioned in the inner cylinder 47 and the outer cylinder 46, the bottom end of the electric telescopic rod 49 is fixed with the second slide rail 43, and the top end of the electric telescopic rod 49 is connected with the top of the inner cylinder 47. A sensing device 50 is provided adjacent the outer cylinder 46 for sensing the storage unit 34.
When the sensing device cannot sense the storage unit 34, the locking mechanism is in the state shown in fig. 13, that is, the electric telescopic rod 49 is started and kept in the contracted state, and the inner cylinder 47 is pulled downward to be lower than the top surface of the second slide rail 43, in which state the spring 48 is in the compressed state.
When the sensing device senses the storage unit 34, the electric telescopic rod 49 is powered off and unlocked, and the inner cylinder 47 bounces upwards under the action of the elastic resetting force of the spring 48 to be pushed to the bottom of the storage unit 34; when the storage unit moves to the set position, the insertion hole 45b moves right above the inner cylinder 47, the inner cylinder 47 directly enters the insertion hole 45b under the action of the spring 48, as shown in fig. 14, the storage unit 34 is positioned and the positioning unit is locked. When the storage unit 34 needs to be moved again, the electric telescopic rod 49 is controlled to be electrified again, and the inner cylinder 47 is pulled downwards, so that the inner cylinder 47 is separated from the insertion hole 45 b.
Example seven:
the W-shaped cleat for guiding unmanned aerial vehicle storage as shown in fig. 16 to 18 includes a cleat body 51, where the cleat body 51 includes three protruding ends 52, a recessed end 53 is provided between two adjacent protruding ends 52, and the upper surface of the cleat body 51 between adjacent protruding ends 52 and recessed ends 53 is inclined downward from the protruding ends 52 toward the recessed end 53; and a movable piece 54 is arranged between the adjacent convex end 52 and the concave end 53, and the movable piece 54 is connected to the side wall of the plate body 51 in a sliding manner.
Example eight:
as shown in fig. 16 to 19, in the W-shaped cleat for guiding the unmanned aerial vehicle to be stored, in the seventh embodiment, a telescopic rod 55 is disposed on the movable member 54, and the telescopic rod 55 extends toward the concave end 53; the axes of the telescoping rods 55 on either side of either recessed end 53 intersect. The telescopic rod 55 is far away from the one end of the corresponding movable piece 54 and is provided with an induction device 56, and the induction device 56 is used for inducing the foot stool of the unmanned aerial vehicle. The cross-section of the movable member 54 is C-shaped, the upper end of the movable member 54 is slidably connected with the plate body 51, a gap is formed between the lower end of the movable member 54 and the plate body 51, and the telescopic rod 55 is fixed in the gap. The upper surface of the movable piece 54 is parallel to the upper surface of the corresponding plate body 51; the movable member 54 and the plate bodies 1 to 51 are slidably connected through sliding grooves and sliding blocks matched with each other, specifically, in this embodiment, two sliding blocks are arranged on the top of the plate body 51, and a sliding groove matched with the two sliding blocks is arranged at the bottom of the movable member 54, so as to realize the free sliding of the movable member 54 on the side of the plate body 51.
Example nine:
the guide assembly for the W-clamp according to the seventh and 8 embodiments, as shown in fig. 20 and 21, includes a platform 57, two opposing W-clamps are disposed on the platform 57, and the two W-clamps can move toward and away from each other on the platform 57. A limiting piece 58 is arranged on the W clamp plate; when the two W-clamp plates move toward each other to the set position, the two limit members 58 abut against each other.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides an unmanned aerial vehicle landing method based on unmanned aerial vehicle automatic hangar which characterized in that, be equipped with a plurality of unmanned aerial vehicle storage areas in the unmanned aerial vehicle automatic hangar, every unmanned aerial vehicle storage area all corresponds an unmanned aerial vehicle memory cell, and every unmanned aerial vehicle memory area all is equipped with one and is used for carrying out fixed locking device to unmanned aerial vehicle memory cell, the method includes:
step 1: unmanned aerial vehicle descending order is received to automatic hangar of unmanned aerial vehicle, wherein, includes in the unmanned aerial vehicle descending order: landing unmanned aerial vehicle number m and corresponding unmanned aerial vehicle storage unit number n;
step 2: detecting the state of an automatic unmanned aerial vehicle hangar door, if the automatic unmanned aerial vehicle hangar door is in a closed state, opening the automatic unmanned aerial vehicle hangar door, and enabling a transplanting jacking mechanism on the hangar door to be horizontal;
and step 3: the transplanting jacking mechanism is lifted to a position corresponding to the unmanned aerial vehicle storage unit with the number n;
and 4, step 4: a locking device in the unmanned aerial vehicle storage area unlocks an unmanned aerial vehicle storage unit;
and 5: the transplanting jacking mechanism shifts the unmanned aerial vehicle storage unit with the number n out of the corresponding unmanned aerial vehicle storage area to be right above the transplanting jacking mechanism;
step 6: the transplanting jacking mechanism carries the unmanned aerial vehicle storage unit with the number n to rise to a landing point, obstacle detection is carried out on the upper surface of the unmanned aerial vehicle storage unit with the number n, the unmanned aerial vehicle landing process is stopped if the obstacle exists, and the unmanned aerial vehicle landing process is continued if the obstacle does not exist;
and 7: the unmanned aerial vehicle numbered m lands on the unmanned aerial vehicle storage unit numbered n, whether the unmanned aerial vehicle exceeds the unmanned aerial vehicle storage unit is detected after landing, if yes, an alarm is given, and if not, the step 8 is executed;
and 8: correcting the position of the unmanned aerial vehicle with the number m;
and step 9: the unmanned aerial vehicle storage unit with the number n locks the unmanned aerial vehicle with the number m;
step 10: the transplanting jacking mechanism carries the unmanned aerial vehicle storage unit with the number n to descend to a position corresponding to the unmanned aerial vehicle storage unit with the number n;
step 11: transplanting climbing mechanism removes the unmanned aerial vehicle memory cell that the serial number is n to corresponding unmanned aerial vehicle memory area in, and locking device in the unmanned aerial vehicle memory area locks unmanned aerial vehicle memory cell, and the unmanned aerial vehicle memory cell that the serial number is n after the locking carries out wireless charging to the unmanned aerial vehicle that the serial number is m.
2. A method for unmanned aerial vehicle landing based on unmanned aerial vehicle automatic hangar as claimed in claim 1, wherein the method further comprises, before step 1, the steps of:
after the unmanned aerial vehicle finishes the operation task, sending an operation task finishing instruction to the unmanned aerial vehicle management background;
and the unmanned aerial vehicle management background generates an unmanned aerial vehicle landing instruction based on the operation task completion instruction and sends the unmanned aerial vehicle landing instruction to an unmanned aerial vehicle automatic hangar.
3. The unmanned aerial vehicle landing method based on the unmanned aerial vehicle automatic hangar of claim 1, wherein the method further comprises:
after all unmanned aerial vehicles finish descending, the transplanting jacking mechanism is retracted, and a garage door of the unmanned aerial vehicle automatic garage is closed;
wirelessly charging the unmanned aerial vehicle with the residual electric quantity lower than a threshold value in the automatic unmanned aerial vehicle warehouse;
and the unmanned aerial vehicle automatic hangar moves to a corresponding destination.
4. An unmanned aerial vehicle landing method based on an unmanned aerial vehicle automatic hangar as claimed in claim 1, wherein the obstacle detection method for the upper surface of the storage unit of the unmanned aerial vehicle numbered n comprises any one of the following methods: identifying whether an obstacle exists on the upper surface of the storage unit of the unmanned aerial vehicle in an image identification mode; detecting obstacles by using a laser radar; when the upper surface of the storage unit of the unmanned aerial vehicle is detected to have the obstacle, the method gives an alarm and cleans the obstacle, and the obstacle detection is continued after the obstacle is cleaned.
5. A method for drone landing based on drone automaton library according to claim 1, characterized in that it further comprises, before step 1:
monitoring the external environment of the automatic unmanned aerial vehicle hangar to obtain external environment parameters;
judging whether the external environment parameters meet the landing requirements of the unmanned aerial vehicle, and if not, suspending the landing process of the unmanned aerial vehicle; and if the takeoff requirement is met, starting the unmanned aerial vehicle landing process.
6. The unmanned aerial vehicle landing method based on the unmanned aerial vehicle automatic hangar according to claim 1, characterized in that the unmanned aerial vehicle automatic hangar is provided with a plurality of hangars, each hangar is provided with one or more transplanting jacking mechanisms, when an unmanned aerial vehicle landing task needs to be executed, whether any transplanting jacking mechanism is in an idle state is judged at first, if yes, the idle transplanting jacking mechanism is selected to execute the unmanned aerial vehicle landing task, if not, the corresponding unmanned aerial vehicle landing task is added into a task queue, and the corresponding unmanned aerial vehicle landing task is executed based on the task queue sorting.
7. An unmanned aerial vehicle landing method based on an unmanned aerial vehicle automatic hangar as claimed in claim 1, wherein in the method, the unmanned aerial vehicle storage unit locks or unlocks the unmanned aerial vehicle foot rests through the unmanned aerial vehicle foot rest locking mechanism.
8. A method of unmanned aerial vehicle landing based on unmanned aerial vehicle automatic hangar as claimed in claim 1, further comprising the step of 12: and obtaining a time interval T1 between the next unmanned aerial vehicle takeoff task execution time and the current time, obtaining a time interval T2 between the next unmanned aerial vehicle landing task execution time and the current time, if TI and T2 are both greater than a threshold value, generating a reminding warehouse door closing message, and generating the reminding warehouse door closing message to control an operation end of the unmanned aerial vehicle automatic warehouse.
9. A method for drone landing based on drone automaton library according to claim 1, characterized in that it further comprises, before step 1:
unmanned aerial vehicle automatic hangar receives unmanned aerial vehicle operation task from unmanned aerial vehicle management backstage, and unmanned aerial vehicle automatic hangar carries out the analysis to unmanned aerial vehicle operation task and obtains unmanned aerial vehicle descending instruction, unmanned aerial vehicle descending instruction still includes unmanned aerial vehicle descending moment, carries out unmanned aerial vehicle descending flow when reaching unmanned aerial vehicle descending moment.
10. The unmanned aerial vehicle landing method based on the unmanned aerial vehicle automatic hangar of claim 1, wherein the method further comprises detecting the unmanned aerial vehicle after landing, and maintaining the unmanned aerial vehicle if the unmanned aerial vehicle is detected to be abnormal.
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