CN112660405A - Electromagnetic adsorption high-fault-tolerance unmanned aerial vehicle deployment and recovery system and unmanned aerial vehicle deployment and recovery method - Google Patents
Electromagnetic adsorption high-fault-tolerance unmanned aerial vehicle deployment and recovery system and unmanned aerial vehicle deployment and recovery method Download PDFInfo
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- CN112660405A CN112660405A CN202011567596.5A CN202011567596A CN112660405A CN 112660405 A CN112660405 A CN 112660405A CN 202011567596 A CN202011567596 A CN 202011567596A CN 112660405 A CN112660405 A CN 112660405A
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
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Abstract
The invention discloses an electromagnetic adsorption high-fault-tolerance unmanned aerial vehicle laying and recovering system and an unmanned aerial vehicle laying and recovering method. The unmanned aerial vehicle automatic positioning system adopts electromagnetic adsorption to perform coarse positioning, adopts the positioning shutdown platform to perform accurate positioning, improves the safety and accuracy of no human-machine recovery, has good environmental adaptability, high docking speed and good environmental adaptability, realizes automatic laying and recovery of the unmanned aerial vehicle, and improves the efficiency of laying and recovery.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle deployment and recovery, in particular to an electromagnetic adsorption high-fault-tolerance unmanned aerial vehicle deployment and recovery system and an unmanned aerial vehicle deployment and recovery method.
Background
A drone is an unmanned aerial vehicle that is operated by a radio remote control device or by its own programmed control means. With the rapid development of the unmanned aerial vehicle industry, more and more unmanned aerial vehicles are applied to industries such as agriculture, forestry, electric power, surveying and mapping, remote measurement and the like. Nowadays, unmanned aerial vehicle technology development is also very mature, and people can utilize unmanned aerial vehicle to carry out high risk, high strength task, guarantee human life safety to the at utmost.
When performing a task, an unmanned aerial vehicle is generally mounted on a moving recovery parent (e.g., a transportation device such as a vehicle or a ship). However, due to environmental factors such as wind and waves, the unmanned aerial vehicle and the recovery parent body bump, and the damage of the unmanned aerial vehicle is very easy to cause. Therefore, the prior art has yet to be developed.
Disclosure of Invention
In order to solve the technical problems, the invention provides an electromagnetic adsorption unmanned aerial vehicle deployment and recovery system with high fault tolerance rate and an unmanned aerial vehicle deployment and recovery method, which have the advantages of high docking speed and good environmental adaptability, realize the automatic deployment and recovery of unmanned aerial vehicles, and improve the efficiency of deployment and recovery.
In order to achieve the purpose, the invention provides the following scheme:
the invention discloses an electromagnetic adsorption high-fault-tolerance unmanned aerial vehicle deployment and recovery system, which comprises a traction device, a recovery device and a control system, wherein the traction device is connected with the recovery device; the traction device comprises a flexible cable, a heavy object and a cable recovery device; the weight comprises a magnetic body and a camera; the cable recovery device is mounted on the unmanned aerial vehicle, and the heavy object and the cable recovery device are connected through the flexible cable; the recovery device comprises an electromagnetic platform and a positioning shutdown platform, wherein the electromagnetic platform is arranged below the positioning shutdown platform, and an electromagnet is arranged in the middle of the electromagnetic platform; the positioning shutdown platform can move, and when the positioning shutdown platform is folded, a hole-shaped structure is formed in the middle of the positioning shutdown platform and is in a first state; when the positioning shutdown platform is unfolded, the porous structure is amplified or disappears and is in a second state; the positioning and stopping platform is provided with a sensing device, and the sensing device is used for detecting the relative position of the unmanned aerial vehicle and the positioning and stopping platform; the unmanned aerial vehicle, hawser recovery unit, the camera, the electromagnetism platform, the platform is shut down in the location, sensing device all with control system connects.
Preferably, the positioning and stopping platform comprises a stopping platform, a positioning rod and a connecting frame; the shutdown platform comprises a first shutdown plate and a second shutdown plate; the positioning rod comprises a first positioning rod and a second positioning rod; the shutdown platform and the positioning rod are connected with the connecting frame in a matching way; the stopping plate is provided with a degree of freedom in cooperation with the connecting frame, and the positioning rod is provided with a degree of freedom in cooperation with the connecting frame; when the positioning shutdown platform is folded, the relative distance between the first shutdown plate and the second shutdown plate is reduced, the relative distance between the first positioning rod and the second positioning rod is reduced, and the first shutdown plate, the second shutdown plate, the first positioning rod and the second positioning rod form a platform with a hole-shaped structure in the middle, namely the first state of the positioning shutdown platform; when the positioning shutdown platform is unfolded, the relative distance between the first shutdown plate and the second shutdown plate is increased, the relative distance between the first positioning rod and the second positioning rod is increased, and the hole-shaped structure formed by the first shutdown plate, the second shutdown plate, the first positioning rod and the second positioning rod is enlarged or disappears, namely the second state of the positioning shutdown platform.
Preferably, said cable recovery means comprises drive means, a winch; the winch is used for cable recovery, and the driving device is used for driving the winch to rotate, so that cable recovery is realized.
Preferably, the recycling device further comprises a container and a cover, the upper end of the container is open, and the cover is used for covering the opening; the electromagnetic platform and the positioning shutdown platform are arranged inside the container.
Preferably, the container further comprises a lifting device, and the electromagnetic platform and the positioning shutdown platform are connected with the lifting device.
Optionally, the relative distance between the electromagnetic platform and the positioning and parking platform is constant; through hawser recovery unit retrieves the hawser, can reduce unmanned aerial vehicle with the relative distance of platform is shut down in the location.
Optionally, the relative distance of the electromagnetic platform to the positional shutdown platform varies; through the electromagnetism platform with platform increase relative distance is shut down in the location, can pull unmanned aerial vehicle, thereby reduces unmanned aerial vehicle with platform is shut down in the location's relative distance.
Preferably, the traction device is connected with a charging port of the unmanned aerial vehicle, the flexible cable comprises a conductive cable, the weight comprises a first electrode, and the first electrode is connected with the charging port of the unmanned aerial vehicle through the conductive cable; the electromagnetic platform is provided with a second electrode; the second electrode is connected with an external power supply; the first electrode with the second electrode contact to when external power supply switches on to the circuit of unmanned aerial vehicle charging port, external power supply is unmanned aerial vehicle charges.
The invention also provides an unmanned aerial vehicle recovery method realized by the high fault-tolerant rate unmanned aerial vehicle distribution recovery system based on electromagnetic adsorption, which comprises the following steps:
step A: the control system receives a recovery instruction;
and B: the control system sends out an instruction to control the region where the recovery device is located to fly;
and C: after the control system monitors that the unmanned aerial vehicle enters the area where the recovery device is located, the control system sends an instruction to open the camera;
step D: the control system receives an instruction, adjusts the pose of the unmanned aerial vehicle, and enables the heavy object to be in contact with and adsorbed by the electromagnet;
step E: the positioning shutdown platform receives an instruction to reach the first state;
step F: the cable recovery device receives the command, recovers the cable and simultaneously pulls the unmanned aerial vehicle to move towards the positioning shutdown platform;
step G: the sensor detects that the relative distance between the unmanned aerial vehicle and the positioning shutdown platform is reduced to a critical value or below, and the sensor sends a signal to the control system;
step H: the cable recovery device receives the instruction and stops not recovering the cable;
step I: the unmanned aerial vehicle receives the instruction, and the wing stall descends on shutting down the platform.
The invention also provides an unmanned aerial vehicle laying method realized by the electromagnetic adsorption high-fault-tolerance unmanned aerial vehicle laying and recycling system, which comprises the following steps:
step A: the control system receives a laying command, sends an instruction, and the positioning shutdown platform ascends;
and B: the unmanned aerial vehicle receives the instruction, flies upwards for a specified distance and then hovers;
and C: the sensor sends out a signal after detecting that the unmanned aerial vehicle reaches a specified distance;
step D: the positioning shutdown platform receives an instruction to reach the second state;
step E: the unmanned aerial vehicle takes off;
compared with the prior art, the invention has the following technical effects:
the invention discloses an electromagnetic adsorption high-fault-tolerance unmanned aerial vehicle laying and recovering system which comprises a traction device, a recovering device and a control system, wherein the traction device comprises a flexible cable, a heavy object and a cable recovering device, the cable recovering device is fixed on an unmanned aerial vehicle, the recovering device comprises an electromagnetic platform and a positioning and stopping platform, the electromagnetic platform is used for adsorbing the magnetic heavy object of the traction device, and the positioning and stopping platform is used for restraining the position of the flexible cable and stopping the unmanned aerial vehicle. It is thus clear that the device adopts electromagnetic adsorption to carry out the coarse positioning, adopts the location to shut down the platform and carry out the accurate positioning, has improved the security and the accuracy that unmanned aerial vehicle retrieved, has good environmental suitability, and the butt joint is fast, realizes that unmanned aerial vehicle is automatic to be laid and puts the recovery, improves the efficiency of laying and putting the recovery.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic perspective view of an electromagnetic adsorption high fault-tolerance unmanned aerial vehicle deployment and recovery system according to the present invention;
FIG. 2 is a schematic structural view of the installation and connection of the towing device and the unmanned aerial vehicle in the invention
FIG. 3 is a schematic view of the recycling apparatus of the present invention
FIG. 4 is a schematic structural diagram of an electromagnetic platform according to the present invention
FIG. 5 is a schematic structural view of a fixed-position shutdown platform according to the present invention
FIG. 6 is a schematic view of the structure of the lifting device
Description of reference numerals: 1. an unmanned aerial vehicle; 2. a traction device; 3. a recovery device; 4. a cable recovery device; 5. a flexible cable; 6. a weight; 7. positioning a shutdown platform; 8. an electromagnetic platform; 9. a cover; 10. a container; 11. an electromagnet; 12. an electromagnetic control device; 13. a sensing device; 14. a first positioning rod; 15. a first shutdown plate; 16. a second shutdown plate; 17. a second positioning rod; 18. a connecting frame; 19. a lifting device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The electromagnetic adsorption high-fault-tolerance unmanned aerial vehicle deployment and recovery system and the deployment and recovery method provided by the invention have the advantages of high docking speed, high fault tolerance and good environmental adaptability.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 6, the high fault-tolerant rate unmanned aerial vehicle deployment and recovery system with electromagnetic adsorption provided in this embodiment includes a traction device 2, a recovery device 3, and a control system; the traction device comprises a cable recovery device 4, a flexible cable 5 and a heavy object 6; the weight 6 includes a magnetic body and a camera; the cable recovery device 4 is arranged on the unmanned aerial vehicle 1; the weight 6 and the cable recovery device 4 are connected through a flexible cable 5; the recovery device 3 comprises an electromagnetic platform 8, a positioning shutdown platform 7, a container 10 and a cover 9, wherein the electromagnetic platform 8 and the positioning shutdown platform 7 are arranged inside the container 10; an electromagnet 11 is arranged in the middle of the electromagnetic platform 8, and an electromagnetic control device 12 is arranged below the electromagnetic platform 8; the electromagnetic platform 8 is arranged below the positioning shutdown platform 7; the positioning shutdown platform 7 can move, and when the positioning shutdown platform 7 is folded, a hole-shaped structure is formed in the middle of the positioning shutdown platform and is in a first state; when the positioning shutdown platform 7 is unfolded, the hole-shaped structure is enlarged or disappears, and the second state is achieved.
Specifically, positioning shutdown platform 7 includes first shutdown plate 15, second shutdown plate 16, first positioning rod 14, second positioning rod 17, and link 18. The positioning and stopping platform 7 is provided with a sensing device 13, and the sensing device 13 is used for detecting the relative position of the unmanned aerial vehicle and the positioning and stopping platform. Unmanned aerial vehicle 1, hawser recovery unit 4, camera, electromagnetism platform 8, location shut down platform 7, sensing device 13 all are connected with control system. In this embodiment, the sensing device 13 is a pressure sensor or a photoelectric sensor. The stop plates 15 and 16 and the positioning rods 14 and 17 are connected with the connecting frame 18 in a matching way; the stop plates 15, 16 are provided with one degree of freedom in cooperation with the link 18, and the positioning rods 14, 17 are provided with one degree of freedom in cooperation with the link 18. When the positioning shutdown platform 7 receives an instruction of the control system, and the unmanned aerial vehicle 1 is about to land, the relative distance between the first shutdown plate 15 and the second shutdown plate 16 is reduced, and the relative distance between the first positioning rod 14 and the second positioning rod 17 is reduced; meanwhile, a platform with a hole-shaped structure in the middle is formed by the first stopping plate 15, the second stopping plate 16, the first positioning rod 14 and the second positioning rod 17; when the positioning shutdown platform 7 is in a deployed state, the relative distance between the first shutdown plate 15 and the second shutdown plate 16 is increased, the relative distance between the first positioning rod 14 and the second positioning rod 17 is increased, and the hole-shaped structure formed by the first shutdown plate 15, the second shutdown plate 16, the first positioning rod 14 and the second positioning rod 17 is enlarged or disappears.
In particular, the container 10 further comprises a lifting device 19, and the electromagnetic platform 8 and the positioning and stopping platform 7 are connected with the lifting device 19.
Wherein the cable recovery device 4 comprises a driving device and a winch; the winch is used for cable recovery, and the driving device is used for driving the winch to rotate, so that cable recovery is realized.
Wherein, the relative distance between the electromagnetic platform 8 and the positioning shutdown platform 7 is unchanged; and the relative distance between the unmanned aerial vehicle and the positioning shutdown platform can be reduced by recovering the cable through the cable recovery device 4.
The traction device 2 is connected with a charging port of the unmanned aerial vehicle 1, the flexible cable 5 comprises a conductive cable, the weight 6 comprises a first electrode, and the first electrode is connected with the charging port of the unmanned aerial vehicle 1 through the conductive cable; the electromagnetic platform 8 is provided with a second electrode; the second electrode is connected with an external power supply; first electrode and second electrode contact to when external power supply switched on to the circuit of unmanned aerial vehicle 1 charging port, external power supply charged for unmanned aerial vehicle.
The invention also provides a recovery method of the unmanned aerial vehicle 1, which is applied to the embodiment and comprises the following steps:
step A: when the unmanned aerial vehicle 1 needs to go back to the navigation, information is fed back to the control system, and the control system receives a recovery instruction;
and B: the control system confirms the relative positions of the unmanned aerial vehicle 1 and the recovery device 3 through detection and calculation, and controls the unmanned aerial vehicle 1 to fly to the area where the recovery device 3 is located;
c, the control system monitors the relative distance between the unmanned aerial vehicle 1 and the recovery device 3 in real time, and when the relative distance is smaller than a threshold value, the control system sends an instruction to open a camera in the heavy object 6, and the camera acquires an image of the positioning shutdown platform 7; the camera transmits image information to the external equipment; the external equipment processes the image information and feeds the information back to the control system;
step D: the control system processes the received information, sends out an instruction, and adjusts the pose of the unmanned aerial vehicle 1 to enable the heavy object 6 to be in contact with and adsorbed by the electromagnet 11;
step E: the positioning shutdown platform 7 receives the instruction, the positioning shutdown platform is folded, the relative distance between the first shutdown plate 15 and the second shutdown plate 16 is reduced, the relative distance between the first positioning rod 14 and the second positioning rod 17 is reduced, a platform with a hole-shaped structure in the middle is formed, the hole structure in the middle is used for restraining the position of the flexible cable 5 and restraining the flexible cable 5 in the middle of the platform;
step F: the cable recovery device 4 receives the instruction, recovers the flexible cable 5 and simultaneously pulls the unmanned aerial vehicle 1 to move towards the positioning shutdown platform 7;
step G: the sensing device 13 detects that the relative distance between the unmanned aerial vehicle 1 and the positioning and stopping platform 7 is reduced to be below a critical threshold value, and the sensing device 13 sends a signal to the control system;
step H: the control system receives the feedback and processes the feedback, and the cable recovery device 4 receives the instruction and stops recovering the flexible cable 5;
step I: the unmanned aerial vehicle 1 receives the instruction and lands on the positioning shutdown platform 7.
Step J: the lifting device 19 receives the instruction and descends to a specified position; meanwhile, the electromagnetic control device receives the instruction, and the electromagnet is powered off;
step K: the lid 9 covers the opening of the container 10 and the recovery is completed.
The invention also provides a laying method of the unmanned aerial vehicle 1, which is applied to the embodiment and comprises the following steps:
step A: the control system receives the placing command, sends out a command, moves the cover 9 out of the opening of the container 10, and positions the shutdown platform 7 to ascend;
and B: the unmanned aerial vehicle 1 receives the instruction, flies upwards for a specified distance of 10-20mm, and then hovers;
and C: the sensing device 13 detects that the relative distance between the unmanned aerial vehicle 1 and the positioning and stopping platform 7 is increased to be at least a critical threshold value, and the sensing device 13 sends a signal to the control system;
step D: when the positioning shutdown platform 7 receives the instruction, the relative distance between the first shutdown plate 15 and the second shutdown plate 16 is increased, and the relative distance between the first positioning rod 14 and the second positioning rod 17 is increased;
step E: the cable recovery device 4 receives the instruction and recovers the flexible cable 5;
step F: the unmanned aerial vehicle 1 receives the instruction, and the unmanned aerial vehicle 1 takes off, and the unmanned aerial vehicle 1 is laid.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. An electromagnetic adsorption high-fault-tolerance unmanned aerial vehicle laying and recycling system is characterized by comprising a traction device, a recycling device and a control system; the traction device comprises a flexible cable, a heavy object and a cable recovery device; the weight comprises a magnetic body and a camera; the cable recovery device is mounted on the unmanned aerial vehicle, and the heavy object and the cable recovery device are connected through the flexible cable; the recovery device comprises an electromagnetic platform and a positioning shutdown platform, wherein the electromagnetic platform is arranged below the positioning shutdown platform, and an electromagnet is arranged in the middle of the electromagnetic platform; the positioning shutdown platform can move, and when the positioning shutdown platform is folded, a hole-shaped structure is formed in the middle of the positioning shutdown platform and is in a first state; when the positioning shutdown platform is unfolded, the porous structure is amplified or disappears and is in a second state; the positioning and stopping platform is provided with a sensing device, and the sensing device is used for detecting the relative position of the unmanned aerial vehicle and the positioning and stopping platform; the unmanned aerial vehicle, hawser recovery unit, the camera, the electromagnetism platform, the platform is shut down in the location, sensing device all with control system connects.
2. The electromagnetic adsorption high fault-tolerant unmanned aerial vehicle deployment and retrieval system of claim 1, wherein the positioning shutdown platform comprises a shutdown platform, a positioning rod and a connecting frame; the shutdown platform comprises a first shutdown plate and a second shutdown plate; the positioning rod comprises a first positioning rod and a second positioning rod; the shutdown platform and the positioning rod are connected with the connecting frame in a matching way; the stopping plate is provided with a degree of freedom in cooperation with the connecting frame, and the positioning rod is provided with a degree of freedom in cooperation with the connecting frame; when the positioning shutdown platform is folded, the relative distance between the first shutdown plate and the second shutdown plate is reduced, the relative distance between the first positioning rod and the second positioning rod is reduced, and the first shutdown plate, the second shutdown plate, the first positioning rod and the second positioning rod form a platform with a hole-shaped structure in the middle, namely the first state of the positioning shutdown platform; when the positioning shutdown platform is unfolded, the relative distance between the first shutdown plate and the second shutdown plate is increased, the relative distance between the first positioning rod and the second positioning rod is increased, and the hole-shaped structure formed by the first shutdown plate, the second shutdown plate, the first positioning rod and the second positioning rod is enlarged or disappears, namely, the hole-shaped structure is the second state of the positioning shutdown platform.
3. The electromagnetic adsorption high fault tolerance unmanned aerial vehicle deployment and retrieval system of claim 2, wherein the cable retrieval device comprises a drive, a winch; the winch is used for cable recovery, and the driving device is used for driving the winch to rotate, so that cable recovery is realized.
4. The electromagnetic adsorption high fault-tolerant unmanned aerial vehicle deployment and retrieval system of claim 3, wherein the retrieval device further comprises a container and a cover, the container is open at the upper end, and the cover is used for covering the opening; the electromagnetic platform and the positioning shutdown platform are arranged inside the container.
5. The electromagnetic adsorption high fault-tolerant unmanned aerial vehicle deployment and retrieval system of claim 4, wherein the container further comprises a lifting device, and the electromagnetic platform and the positioning shutdown platform are connected with the lifting device.
6. The electromagnetic adsorption high fault-tolerant unmanned aerial vehicle deployment and retrieval system of claim 5, wherein a relative distance between the electromagnetic platform and the positioning and shutdown platform is constant; through hawser recovery unit retrieves the hawser, can reduce unmanned aerial vehicle with the relative distance of platform is shut down in the location.
7. The electromagnetic adsorption high fault-tolerant unmanned aerial vehicle deployment and retrieval system of claim 5, wherein a relative distance between the electromagnetic platform and the positioning and shutdown platform varies; through the electromagnetism platform with platform increase relative distance is shut down in the location, can pull unmanned aerial vehicle, thereby reduces unmanned aerial vehicle with platform is shut down in the location's relative distance.
8. The electromagnetic adsorption high fault tolerance unmanned aerial vehicle deployment and retrieval system of any one of claims 1-7, wherein the towing device is connected to a charging port of the unmanned aerial vehicle, the flexible cable comprises a conductive cable therein, the weight comprises a first electrode therein, and the first electrode is connected to the charging port of the unmanned aerial vehicle through the conductive cable; the electromagnetic platform is provided with a second electrode; the second electrode is connected with an external power supply; the first electrode with the second electrode contact to when external power supply switches on to the circuit of unmanned aerial vehicle charging port, external power supply is unmanned aerial vehicle charges.
9. An unmanned aerial vehicle recycling method realized by the electromagnetic adsorption high fault tolerance unmanned aerial vehicle distribution recycling system of claim 8, comprising the following steps:
step A: the control system receives a recovery instruction;
and B: the control system sends out an instruction to control the region where the recovery device is located to fly;
step C, after the control system monitors that the unmanned aerial vehicle enters the area where the recovery device is located, the control system sends an instruction to open the camera;
step D: the control system receives an instruction, adjusts the pose of the unmanned aerial vehicle, and enables the heavy object to be in contact with and adsorbed by the electromagnet;
step E: the positioning shutdown platform receives an instruction to reach the first state;
step F: the cable recovery device receives the command, recovers the cable and simultaneously pulls the unmanned aerial vehicle to move towards the positioning shutdown platform;
step G: the sensor detects that the relative distance between the unmanned aerial vehicle and the positioning shutdown platform is reduced to a critical value or below, and the sensor sends a signal to the control system;
step H: the cable recovery device receives the instruction and stops not recovering the cable;
step I: the unmanned aerial vehicle receives the instruction, and the wing stall descends on shutting down the platform.
10. An unmanned aerial vehicle deployment method implemented by using the electromagnetic adsorption high fault tolerance unmanned aerial vehicle deployment and recovery system of claim 8, comprising the following steps:
step A: the control system receives a laying command, sends an instruction, and the positioning shutdown platform ascends;
and B: the unmanned aerial vehicle receives the instruction, flies upwards for a specified distance and then hovers;
and C: the sensor sends out a signal after detecting that the unmanned aerial vehicle reaches a specified distance;
step D: the positioning shutdown platform receives an instruction to reach the second state;
step E: the unmanned aerial vehicle takes off.
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| CN210681182U (en) * | 2019-07-03 | 2020-06-05 | 上海寻航者智能科技有限公司 | Composite wing unmanned aerial vehicle shuts down strorage device |
| CN211943773U (en) * | 2019-12-31 | 2020-11-17 | 广西电网有限责任公司百色供电局 | Unmanned aerial vehicle anchoring descending auxiliary device |
| CN111439143A (en) * | 2020-05-12 | 2020-07-24 | 深圳臻像科技有限公司 | Unmanned aerial vehicle recovery system and recovery method thereof |
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