CN107140225A - The automatic charge device and method of a kind of multi-rotor unmanned aerial vehicle - Google Patents
The automatic charge device and method of a kind of multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN107140225A CN107140225A CN201710265155.1A CN201710265155A CN107140225A CN 107140225 A CN107140225 A CN 107140225A CN 201710265155 A CN201710265155 A CN 201710265155A CN 107140225 A CN107140225 A CN 107140225A
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- Prior art keywords
- aerial vehicle
- unmanned aerial
- unmanned plane
- rotor unmanned
- charging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides a kind of automatic charge device of multi-rotor unmanned aerial vehicle and method, device therein includes the carrier loader for being used to transport multi-rotor unmanned aerial vehicle in charged area, the unmanned plane landing plate for being horizontally set on charged area center, the edge that is arranged in charged area and for being charging assembly that multi-rotor unmanned aerial vehicle is charged, and, the control assembly communicated to connect respectively with carrier loader, unmanned plane landing plate and charging assembly；Unmanned plane landing plate is provided with push-rod assembly, and push-rod assembly is used to the multi-rotor unmanned aerial vehicle being parked on unmanned plane landing plate being pushed on carrier loader and multi-rotor unmanned aerial vehicle is dragged into unmanned plane landing plate from carrier loader pull-up.The device and method intelligence degree of the present invention is high and structure of device therein is reliable, realize the automatic charging quickly and efficiently to multi-rotor unmanned aerial vehicle, and then effectively increase the endurance of multi-rotor unmanned aerial vehicle, it is ensured that the operation of multi-rotor unmanned aerial vehicle and operating efficiency.
Description
Technical field
The present invention relates to unmanned plane charging technique field, and in particular to a kind of automatic charge device of multi-rotor unmanned aerial vehicle and
Method.
Background technology
In recent years, the fast development of microelectronics and computer technology is had benefited from, multi-rotor unmanned aerial vehicle technology has considerable
It is progressive, and be widely used in the multiple fields such as military affairs, industrial or agricultural, civilian, investigation and exploration, Fire prevention, agricultural plant protection,
Multiple application fields such as aerial photographing are played an important role.
Current existing multi-rotor unmanned aerial vehicle generally uses lithium battery power supply, there is the problem of endurance is short, this is asked
Topic governs the development of the tradding limit and multi-rotor unmanned aerial vehicle of multi-rotor unmanned aerial vehicle.
Therefore, the endurance for how improving multi-rotor unmanned aerial vehicle is this area urgent problem to be solved.
The content of the invention
For defect of the prior art, the present invention provides the automatic charge device and method of a kind of multi-rotor unmanned aerial vehicle,
The device and method intelligence degree is high and structure of device therein is reliable, realizes the quick and height to multi-rotor unmanned aerial vehicle
The automatic charging of effect, the process reliability charged to unmanned plane is high and applied widely, and then effectively increases many rotations
The endurance of wing unmanned plane, it is ensured that the operation of multi-rotor unmanned aerial vehicle and operating efficiency.
In order to solve the above technical problems, the present invention provides following technical scheme：
On the one hand, the invention provides a kind of automatic charge device of multi-rotor unmanned aerial vehicle, described device includes：It is placed on
Being used in charged area transports the carrier loader of multi-rotor unmanned aerial vehicle, is horizontally set on the unmanned plane of charged area center
Drop plate, the edge being arranged in charged area and be used to be that the multi-rotor unmanned aerial vehicle that the carrier loader is transported to is charged
Charging assembly, and, the control assembly communicated to connect respectively with the carrier loader, unmanned plane landing plate and charging assembly；
The unmanned plane landing plate is provided with push-rod assembly, and the push-rod assembly is used to that the unmanned plane landing will to be parked in
Multi-rotor unmanned aerial vehicle on plate is pushed on the carrier loader, and/or, by the multi-rotor unmanned aerial vehicle from the carrier loader
Pull-up is dragged on the unmanned plane landing plate.
Further, the carrier loader includes：Vehicle body, be horizontally set on the vehicle body top and be used for
The hoistable platform of the multi-rotor unmanned aerial vehicle is carried, and, it is arranged on inside the vehicle body and connects with the hoistable platform
The motor connect；
The elemental height of the hoistable platform is less than or equal to the height of the unmanned plane landing plate.
Further, the unmanned plane landing plate also includes：The motor of the unmanned plane landing plate bottom is arranged on, is set
Landing in the center of the top surface of the unmanned plane landing plate is identified, and is arranged on the unmanned plane landing plate top surface side
Sloping baffle；
The motor is communicated to connect with the control assembly, and the motor is connected with the push-rod assembly.
Further, the push-rod assembly includes：Two of the both sides being set in parallel on the unmanned plane landing plate lead
Rail, it is horizontally set between two guide rails and the push rod vertical with two guide rails；
The push rod and the motor connection, and the bottom at the two ends of the push rod is provided with the slip coordinated with the guide rail
Part so that length direction of the push rod along the guide rail is moved.
Further, the push rod is linked up with provided with least one, and the hook and the motor connection；
The center vertical axes of the fixing end of the hook are connected with the push rod so that the hook of the hook take end around
The vertical axes rotation.
Further, the charging assembly includes：The charhing unit for the edge being positioned close in the charged area,
And, it is arranged on the positioning between the charhing unit and the unmanned plane landing plate and at the position of the charhing unit
Frame.
Further, the charhing unit includes the motor that is fixedly installed, and, with the motor connection and with it is described many
The corresponding telescopic charging plug of charging mouth structure of rotor wing unmanned aerial vehicle.
Further, the locating rack includes：Two fixed mounts for placing vertically, and, it is arranged on each fixed mount
Top two ends and for position the multi-rotor unmanned aerial vehicle frame end guiding block.
Further, the control assembly includes：It is separately positioned on the carrier loader, unmanned plane landing plate and charging group
Sensor on part, the processor with sensor communication connection；
Wherein, the sensor being arranged on the carrier loader is tracking unit；
Each sensor is connected with its communications on part where it respectively.
On the other hand, present invention also offers a kind of the automatic of the multi-rotor unmanned aerial vehicle of the automatic charge device described in application
Charging method, methods described includes：
After multi-rotor unmanned aerial vehicle is dropped on the unmanned plane landing plate, the unmanned plane landing plate is to the control assembly
Send landing information, the control assembly according to the landing information of reception control the push-rod assembly by many rotors nobody
Machine, which is pushed to, to be rested on the carrier loader of the unmanned plane landing panel side；
The transport that the carrier loader is sent according to the control assembly of reception is instructed, and is travelled in tracking mode and automatic
Judge the charging assembly；And determine whether current charging assembly is occupied in the way of counting；
In carrier loader after idle charging assembly, the multi-rotor unmanned aerial vehicle is fixed on institute by the carrier loader
State in charging assembly, and the information in place sent to the control assembly, it is then return to the unmanned plane landing panel side and treats
Life；
The control assembly thinks that the charging assembly sends charging instruction, the charging according to the information in place of reception
Component charges according to the charging instruction to the multi-rotor unmanned aerial vehicle；
Stop charging when the battery for detecting the multi-rotor unmanned aerial vehicle in the charging assembly reaches blanking voltage, and to
Carrier loader sends positional information, and the carrier loader reached at the charging assembly in tracking mode, and by multi-rotor unmanned aerial vehicle
After being unloaded from the charging assembly, the unmanned plane landing plate side is transported back；
And, the push-rod assembly on the unmanned plane landing plate pulls up the multi-rotor unmanned aerial vehicle from the carrier loader
It is dragged on the unmanned plane landing panel, completes the charging process to the multi-rotor unmanned aerial vehicle.
As shown from the above technical solution, the automatic charge device and method of a kind of multi-rotor unmanned aerial vehicle of the present invention,
Device therein transports the carrier loader of multi-rotor unmanned aerial vehicle including being used in charged area, is horizontally set in charged area
Unmanned plane landing plate at the heart, the edge being arranged in charged area and the charging for being charged for multi-rotor unmanned aerial vehicle
Component, and, the control assembly communicated to connect respectively with carrier loader, unmanned plane landing plate and charging assembly；Unmanned plane landing
Plate is provided with push-rod assembly, and push-rod assembly is small for the multi-rotor unmanned aerial vehicle being parked on unmanned plane landing plate to be pushed into delivery
It is dragged on car and by multi-rotor unmanned aerial vehicle from carrier loader pull-up on unmanned plane landing plate.The device and method of the present invention is intelligent
Degree is high and structure of device therein is reliable, realizes the automatic charging quickly and efficiently to multi-rotor unmanned aerial vehicle, and then
Effectively increase the endurance of multi-rotor unmanned aerial vehicle, it is ensured that the operation of multi-rotor unmanned aerial vehicle and operating efficiency.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is a kind of structural representation of the automatic charge device of multi-rotor unmanned aerial vehicle of the present invention.
Fig. 2 is the structural representation of carrier loader 1 in automatic charge device of the invention.
Fig. 3 is the structural representation of unmanned plane landing plate 2 in automatic charge device of the invention.
Fig. 4 is the structural representation of charging assembly 3 in automatic charge device of the invention.
Fig. 5 is the structural representation of control assembly 18 in automatic charge device of the invention.
Fig. 6 is the structure of the charge port in telescopic charging plug 22 and multi-rotor unmanned aerial vehicle in the application example of the present invention
Schematic diagram.
Fig. 7 is a kind of schematic flow sheet of the automatic recharging method of multi-rotor unmanned aerial vehicle of the present invention.
Wherein, 1- carrier loaders；2- unmanned plane landing plates；3- charging assemblies；4- hoistable platforms；5- limiting grooves；6- is aided in
Wheel；7- motors；8- guide wheels；9- montants；10- tracking units；11- universal wheels；12- wheels；13- vehicle bodies；14- is linked up with；15-
Push rod；16- guide rails；17- sloping baffles；18- control assemblies；19- locating racks；20- push-rod assemblies；21- guiding blocks；22- stretches
Charging plug；23- charhing units；24- fixed mounts.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, clear, complete description is carried out to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Embodiments of the invention one disclose a kind of embodiment of the automatic charge device of multi-rotor unmanned aerial vehicle, ginseng
See Fig. 1, the automatic charge device specifically includes following content：
Be placed in charged area be used for transport multi-rotor unmanned aerial vehicle carrier loader 1, be horizontally set on charged area
The unmanned plane landing plate 2 of center, the edge being arranged in charged area and many rotations for being transported to for the carrier loader 1
The charging assembly 3 that wing unmanned plane is charged, and, respectively with the carrier loader 1, unmanned plane landing plate 2 and charging assembly 3
The control assembly 18 not shown in Fig. 1 of communication connection；The unmanned plane landing plate 2 is provided with push-rod assembly 20, and described pushes away
Bar assembly 20 is used to the multi-rotor unmanned aerial vehicle being parked on the unmanned plane landing plate 2 being pushed to the carrier loader 1, and/
Or, be dragged to the multi-rotor unmanned aerial vehicle on the unmanned plane landing plate 2 from the carrier loader 1 pull-up.
In the foregoing description, the quantity of charging assembly 3 is set according to practical situations, and settable interval is 1 to 100
Between, the quantity of carrier loader 1 can also be set between 1 to 10 according to practical situations, set on unmanned plane landing plate 2
There is push-rod assembly 20；Push-rod assembly 20 carries out horizontal movement relative to the unmanned plane landing plate 2, and push-rod assembly 20 can be caught on
Multi-rotor unmanned aerial vehicle foot stool, can pull multi-rotor unmanned aerial vehicle to the internal motion of unmanned plane landing plate 2；The carrier loader
1 rests in the outside of unmanned plane landing plate 2, and the charging assembly is carried to for push-rod assembly 20 to be pushed away into the multi-rotor unmanned aerial vehicle come
At 3；The charging assembly 3 is used to fix multi-rotor unmanned aerial vehicle to be charged and carries out automatic charging for multi-rotor unmanned aerial vehicle；Institute
State control assembly 18 is responsible for whether having whether multi-rotor unmanned aerial vehicle, the carrier loader 1 stop on the detection unmanned plane landing plate 2
Specified location is come to and has been detected for whole device, while being responsible for the data communication between each device.
It was found from foregoing description, device intelligence degree in embodiments of the invention is high and structure is reliable, realizes pair
The automatic charging quickly and efficiently of multi-rotor unmanned aerial vehicle, the process reliability charged to unmanned plane is high and applied widely
It is general.
Embodiments of the invention two disclose the embodiment of carrier loader 1 in above-mentioned automatic charge device, referring to
Fig. 2, the carrier loader 1 specifically includes following content：
Vehicle body 13, be horizontally set on the top of vehicle body 13 and for carrying the multi-rotor unmanned aerial vehicle
Hoistable platform 4, and, it is arranged on the inside of vehicle body 13 and the motor 7 being connected with the hoistable platform 4；The lifting
The elemental height of platform 4 is less than or equal to the height of the unmanned plane landing plate 2.
In the foregoing description, vehicle body 13 including guide wheel 8, montant 9, universal wheel 11 and wheel 12 by constituting, and sensing
The tracking unit 10 of one of device is arranged on carrier loader 1, and the tracking unit 10 uses CCD tracking modules.
It was found from foregoing description, embodiments of the invention can fast and accurately to be parked on unmanned plane landing plate 2
Multi-rotor unmanned aerial vehicle be transported at charging assembly, it is ensured that the charge efficiency of multi-rotor unmanned aerial vehicle.
Embodiments of the invention three disclose the embodiment of unmanned plane landing plate 2 in above-mentioned automatic charge device,
Referring to Fig. 3, the unmanned plane landing plate 2 specifically includes following content：
It is arranged in the motor 7 of the bottom of unmanned plane landing plate 2, the top surface for being arranged on the unmanned plane landing plate 2
Landing mark at the heart, and it is arranged on the sloping baffle 17 of the top surface side of unmanned plane landing plate 2；The motor 7 and institute
Control assembly 18 is stated to communicate to connect, and the motor 7 is connected with the push-rod assembly 20；It is set in parallel in the unmanned plane landing
Two guide rails 16 of the both sides on plate 2, it is horizontally set on push rod 15 between two guide rails 16 and vertical with two guide rails 16；Institute
Push rod 15 is stated to be connected with the motor 7, and the bottom at the two ends of the push rod 15 is provided with the sliding part coordinated with the guide rail 16,
So that length direction of the push rod 15 along the guide rail 16 is moved；The push rod 15 links up with 14, and institute provided with least one
Hook 14 is stated to be connected with the motor 7；The center vertical axes of the fixing end of the hook 14 are connected with the push rod 15, are made
The hook for obtaining the hook 14 takes end around vertical axes rotation.
In the foregoing description, the push-rod assembly 20 includes push rod 15, hook 14, motor 7, and sloping baffle 17 is therein
Motor 7 could be arranged to two, and one is connected with hook 14, directly drives the hook 14 and is rotated relative to the push rod 15；Separately
One is connected with push rod 15, promotes the relatively described panel body of push rod 15 to do translational motion, the hook 14 is pushed away with described
Bar 15, which is rotated, to be set.Wherein, the driving push rod 15 of motor 7 carries out horizontal movement relative to unmanned plane landing plate 2, and hook 14 is by motor
7 drivings rotate and can catch on multi-rotor unmanned aerial vehicle foot stool, make the stretchy multi-rotor unmanned aerial vehicle of push rod 15 to unmanned plane
The internal motion of landing plate 2；Carrier loader 1 rests in the outside of unmanned plane landing plate 2, for by push rod 15 push away many rotors come nobody
Machine is docked at charging assembly 3.
It was found from foregoing description, embodiments of the invention ensure that multi-rotor unmanned aerial vehicle is accurately stopped and mobile, be real
Effective architecture basics now are provided to the automatic charging quickly and efficiently of multi-rotor unmanned aerial vehicle.
Embodiments of the invention four disclose the embodiment of charging assembly 3 in above-mentioned automatic charge device, referring to
Fig. 4, the charging assembly 3 specifically includes following content：
The charhing unit 23 for the edge being positioned close in the charged area, and, it is arranged on the charhing unit
Locating rack 19 between 23 and the unmanned plane landing plate 2 and at the position of the charhing unit 23；The charhing unit
23 include the motors 7 that are fixedly installed, and, be connected with the motor 7 and with the charging mouth structure pair of the multi-rotor unmanned aerial vehicle
The telescopic charging plug 22 answered；The locating rack 19 includes：Two fixed mounts 24 for placing vertically, and, it is arranged on each solid
Determine the top two ends of frame 24 and for the guiding block 21 for the frame end for positioning the multi-rotor unmanned aerial vehicle.
In the foregoing description, charging assembly 3 includes locating rack 19 and telescopic charging plug 22, and it is many that locating rack 19 is used for fixation
Position when rotor wing unmanned aerial vehicle charges, telescopic charging plug 22 is moved horizontally by the driving of motor 7 and inserts multi-rotor unmanned aerial vehicle
On charging inlet inside for multi-rotor unmanned aerial vehicle carry out automatic charging.
It was found from foregoing description, embodiments of the invention are realized to be filled to quickly and efficiently automatic of multi-rotor unmanned aerial vehicle
Electricity, the process reliability charged to unmanned plane is high and applied widely, and then effectively increases multi-rotor unmanned aerial vehicle
Endurance, it is ensured that the operation of multi-rotor unmanned aerial vehicle and operating efficiency.
Embodiments of the invention five disclose the embodiment of control assembly 18 in above-mentioned automatic charge device, referring to
Fig. 5, the control assembly 18 specifically includes following content：
It is separately positioned on the carrier loader 1, unmanned plane landing plate 2 and the sensor on charging assembly 3 and the sensing
The processor of device communication connection；Wherein, the sensor being arranged on the carrier loader is tracking unit；Each sensor point
Do not communicated to connect with the motor 7 on part where it.
In the foregoing description, control assembly 18 includes processor and sensor, be responsible on detection unmanned plane landing plate 2 whether
Have whether multi-rotor unmanned aerial vehicle, carrier loader 1 have been accommodated to specified location and have been monitored for whole equipment.
It was found from foregoing description, embodiments of the invention ensure that the intelligence to the automatic charging process of multi-rotor unmanned aerial vehicle
Change and charge efficiency.
For further instruction this programme, present invention also offers a kind of answering for automatic charge device of multi-rotor unmanned aerial vehicle
With example, referring to Fig. 1 to 5, the automatic charge device specifically includes following content：
Unmanned plane landing plate 2, push-rod assembly 20, carrier loader 1, charging assembly 3, control assembly 18 and communication component.
Push-rod assembly 20 includes push rod 15 and motor 7 with hook 14, and push rod 15 is arranged on unmanned plane landing plate 2, and motor 7 drives
Dynamic push rod 15 carries out horizontal movement relative to unmanned plane landing plate 2, and hook 14 is rotated and can caught on by the driving of motor 7
Multi-rotor unmanned aerial vehicle foot stool, makes the stretchy multi-rotor unmanned aerial vehicle of push rod 15 to the internal motion of unmanned plane landing plate 2；Carrier loader 1
The outside of unmanned plane landing plate 2 is rested in, is docked to for push rod 15 to be pushed away into the multi-rotor unmanned aerial vehicle come at charging assembly 3；Charging
Component 3 includes locating rack 19 and telescopic charging plug 22, and locating rack 19 is used to fix position during multi-rotor unmanned aerial vehicle charging, stretched
Contracting charging plug 22 moved horizontally by the driving of motor 7 and insert inside the charging inlet in multi-rotor unmanned aerial vehicle for many rotors without
Man-machine carry out recharging；Control assembly 18 includes processor and sensor, is responsible for whether having many on detection unmanned plane landing plate 2
Whether rotor wing unmanned aerial vehicle, carrier loader 1 have been accommodated to specified location and have been monitored for whole equipment.The unmanned plane rises
Dropping plate 2 includes being coated with the landing mark for multi-rotor unmanned aerial vehicle Autonomous landing, push rod group in panel body, the panel body
Part 20 is fixed in the panel body.The push-rod assembly 20 include push rod 15, hook 14, motor 7, motor 7, hook 14 with
Push rod 15, which is rotated, to be set, and motor 7 pushes directly on push rod 15 and does translational motion, the direct drive of motor 7 hook 14 with respect to panel body
Rotated relative to push rod 15.The carrier loader 1 includes vehicle body 13, hoistable platform 4 and motor 7, and hoistable platform 4 is fixed on
On carrier loader 1, the driving hoistable platform 4 of motor 7 is moved up and down.The charging assembly 3 includes locating rack 19, flexible charging and inserted
First 22 directly drive the translation of 22 relative positioning frame of telescopic charging plug 19 with motor 7, motor 7.Telescopic charging plug 22 therein
With the structure of the charge port in multi-rotor unmanned aerial vehicle as shown in fig. 6, the locating rack 19 includes fixed mount 24 and guiding block 21, lead
Draw block 21 on fixed mount 24.The control assembly 18 includes processor, tracking unit 10, and processor is arranged on panel master
Internal portion, tracking unit 10 is arranged on carrier loader 1；The wireless communication components include radio antenna, radio communication
Antenna is arranged on inside unmanned plane landing plate 2, is connected with processor.
It was found from foregoing description, application example of the invention realizes quickly and efficiently automatic to multi-rotor unmanned aerial vehicle
Charging, effectively increases the endurance of multi-rotor unmanned aerial vehicle, saves money and human cost.
Embodiments of the invention six disclose the automatic charging that multi-rotor unmanned aerial vehicle is carried out using above-mentioned automatic charge device
The embodiment of method, referring to Fig. 7, the automatic recharging method specifically includes following steps：
Step 100：After multi-rotor unmanned aerial vehicle is dropped on the unmanned plane landing plate, the unmanned plane landing plate is to described
Control assembly sends landing information, and the control assembly controls the push-rod assembly will be described many according to the landing information of reception
Rotor wing unmanned aerial vehicle, which is pushed to, to be rested on the carrier loader of the unmanned plane landing panel side.
Step 200：The transport that the carrier loader is sent according to the control assembly of reception is instructed, with tracking mode row
Sail and charging assembly described in automatic decision；And determine whether current charging assembly is occupied in the way of counting.
Step 300：In carrier loader after idle charging assembly, the carrier loader is by the multi-rotor unmanned aerial vehicle
It is fixed in the charging assembly, and the information in place sent to the control assembly, it is then return to the unmanned plane landing
Panel side is awaited orders.
Step 400：The control assembly thinks that the charging assembly sends charging instruction according to the information in place of reception,
The charging assembly charges according to the charging instruction to the multi-rotor unmanned aerial vehicle.
Step 500：The battery for detecting the multi-rotor unmanned aerial vehicle in the charging assembly stops when reaching blanking voltage
Charging, and positional information is sent to carrier loader, the carrier loader is reached at the charging assembly in tracking mode, and will revolve more
After wing unmanned plane is unloaded from the charging assembly, the unmanned plane landing plate side is transported back.
Step 600：Push-rod assembly on the unmanned plane landing plate is by the multi-rotor unmanned aerial vehicle from the carrier loader
Pull-up is dragged on the unmanned plane landing panel, completes the charging process to the multi-rotor unmanned aerial vehicle.
It was found from foregoing description, filled The inventive method achieves quickly and efficiently automatic to multi-rotor unmanned aerial vehicle
Electricity, the process reliability charged to unmanned plane is high and applied widely, and then effectively increases multi-rotor unmanned aerial vehicle
Endurance, it is ensured that the operation of multi-rotor unmanned aerial vehicle and operating efficiency.
For further instruction this programme, present invention also offers a kind of answering for automatic recharging method of multi-rotor unmanned aerial vehicle
With example, the automatic recharging method specifically includes following content：
Treat that the multi-rotor unmanned aerial vehicle of landing charging is autonomous according to the confession multi-rotor unmanned aerial vehicle being sprayed on unmanned plane landing plate 2
The landing mark of landing is dropped on the unmanned plane landing plate 2 of charging device.After multi-rotor unmanned aerial vehicle landing, pass through radio communication
Component sends landing message to processor.Processor is received after message, and the driving push rod 15 of controlled motor 7 is relative to unmanned plane landing
Plate 2 carries out horizontal movement, and multi-rotor unmanned aerial vehicle is shifted onto and rested on the carrier loader 1 in the outside of unmanned plane landing plate 2.Wherein,
Sloping baffle 17 on unmanned plane landing plate 2 can adjust many rotors during multi-rotor unmanned aerial vehicle horizontal movement
The posture of unmanned plane, it is ensured that multi-rotor unmanned aerial vehicle is accurately shifted onto on the hoistable platform 4 of carrier loader 1.
After multi-rotor unmanned aerial vehicle to be pushed into hoistable platform 4 of carrier loader 1 completely for push rod 15, processor passes through channel radio
Letter component informs that carrier loader 1 is started working.Carrier loader 1 is travelled simultaneously certainly by the tracking module of carrying in CCD tracking modes
It is dynamic to judge target locating rack 19, the whether placed multi-rotor unmanned aerial vehicle of locating rack 19 is determined by way of counting.When close
After target locating rack 19, the driving hoistable platform 4 of motor 7 is raised, and multi-rotor unmanned aerial vehicle is held up, and is further continued for tracking and is entered positioning
Frame 19.Tracked and line terminal and stopped by tracking module, after carrier loader 1 is moved to assigned position, it stops movement,
The hoistable platform 4 of the driving of motor 7 simultaneously is reduced.After hoistable platform 4 is reduced, the frame end of rotor multi-rotor unmanned aerial vehicle is caught in positioning
In the positioning hole of frame 19.After hoistable platform 4 is preferably minimized, carrier loader 1 sends revolve more by wireless communication module to processor
Wing unmanned plane reaches the message of locating rack 19, and processor is received after message, sends and instructs to specified locating rack 19, motor 7
Driving telescopic charging plug 22 is begun to decline, in the charging socket for inserting multi-rotor unmanned aerial vehicle, while balance fills start-up operation, is
Multi-rotor unmanned aerial vehicle is charged.
Carrier loader 1 starts to turn around, and is returned along former road tracking, and rests in the edge of unmanned plane landing plate 2, waits next
The signal that multi-rotor unmanned aerial vehicle is landed or the charging of existing multi-rotor unmanned aerial vehicle terminates.
After multi-rotor unmanned aerial vehicle is fully charged, the charging assembly 3 of locating rack 19 detects battery and reaches blanking voltage, stops
Charging, the driving telescopic charging plug 22 of motor 7 rises.Send corresponding fixed to carrier loader 1 by wireless communication module simultaneously
Position frame 19 is numbered, and carrier loader 1 is reached by CCD trackings and specified at locating rack 19, and is rested in immediately below multi-rotor unmanned aerial vehicle.
Hoistable platform 4 on the driving carrier loader 1 of motor 7 is risen, and multi-rotor unmanned aerial vehicle is held up from locating rack 19.Subsequent carrier loader
1 releases from locating rack 19, turns around, and follows trace and returns to by unmanned plane landing plate 2.
Carrier loader 1 is rested in behind the side of unmanned plane landing plate 2, and the hoistable platform 4 on the driving carrier loader 1 of motor 7 rises to
Highest is simultaneously concordant with unmanned plane landing plate 2, while carrier loader 1 sends a signal to unmanned plane landing plate by wireless communication module
2, the driving push rod 15 of motor 7 is moved to by carrier loader 1.Hook 14 in the driving push rod 15 of motor 7 hooks multi-rotor unmanned aerial vehicle
Two foot stools.The counter motion of 7 driving push rod of subsequent motor 15, is pulled to the center of unmanned plane landing plate 2, simultaneously by multi-rotor unmanned aerial vehicle
The pause motion of push rod 15.The driving of motor 7 hook 14 is retracted, and multi-rotor unmanned aerial vehicle is rested on the center of unmanned plane landing plate 2.Push rod
15 continue to move until initial position, multi-rotor unmanned aerial vehicle is in the multi-rotor unmanned aerial vehicle landing platform central disturbed without barrier
Take off.
It was found from foregoing description, application example of the invention realizes quickly and efficiently automatic to multi-rotor unmanned aerial vehicle
Charging, effectively increases the endurance of multi-rotor unmanned aerial vehicle, saves money and human cost.
Above example is merely to illustrate technical scheme, rather than its limitations；Although with reference to the foregoing embodiments
The present invention is described in detail, it will be understood by those within the art that：It still can be to foregoing each implementation
Technical scheme described in example is modified, or carries out equivalent substitution to which part technical characteristic；And these are changed or replaced
Change, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a kind of automatic charge device of multi-rotor unmanned aerial vehicle, it is characterised in that described device includes：It is placed in charged area
Be used for transport multi-rotor unmanned aerial vehicle carrier loader, be horizontally set on charged area center unmanned plane landing plate, set
Edge in charged area and the charging assembly for being charged for the multi-rotor unmanned aerial vehicle that the carrier loader is transported to,
And, the control assembly communicated to connect respectively with the carrier loader, unmanned plane landing plate and charging assembly；
The unmanned plane landing plate is provided with push-rod assembly, and the push-rod assembly is used to that the unmanned plane landing plate will to be parked in
Multi-rotor unmanned aerial vehicle be pushed on the carrier loader, and/or, the multi-rotor unmanned aerial vehicle is pulled up from the carrier loader
It is dragged on the unmanned plane landing plate.
2. device according to claim 1, it is characterised in that the carrier loader includes：Vehicle body, it is horizontally set on
The vehicle body top and for carrying the hoistable platform of the multi-rotor unmanned aerial vehicle, and, be arranged on the vehicle sheet
Internal portion and the motor being connected with the hoistable platform；
The elemental height of the hoistable platform is less than or equal to the height of the unmanned plane landing plate.
3. device according to claim 1, it is characterised in that the unmanned plane landing plate also includes：It is arranged on the nothing
The motor of man-machine landing plate bottom, is arranged on the landing mark of the center of the top surface of the unmanned plane landing plate, and sets
Sloping baffle in the unmanned plane landing plate top surface side；
The motor is communicated to connect with the control assembly, and the motor is connected with the push-rod assembly.
4. device according to claim 3, it is characterised in that the push-rod assembly includes：Be set in parallel in it is described nobody
Two guide rails of the both sides on machine landing plate, it is horizontally set between two guide rails and the push rod vertical with two guide rails；
The push rod and the motor connection, and the bottom at the two ends of the push rod is provided with the sliding part coordinated with the guide rail,
So that length direction of the push rod along the guide rail is moved.
5. device according to claim 4, it is characterised in that the push rod is linked up with provided with least one, and the extension
Hook and the motor connection；
The center vertical axes of the fixing end of the hook are connected with the push rod so that the hook of the hook takes end around described
Vertical axes rotate.
6. device according to claim 1, it is characterised in that the charging assembly includes：It is positioned close to the charging
The charhing unit of edge in region, and, it is arranged between the charhing unit and the unmanned plane landing plate and close
Locating rack at the position of the charhing unit.
7. device according to claim 6, it is characterised in that the charhing unit includes the motor being fixedly installed, and,
With the motor connection and telescopic charging plug corresponding with the charging mouth structure of the multi-rotor unmanned aerial vehicle.
8. device according to claim 6, it is characterised in that the locating rack includes：Two fixed mounts for placing vertically,
And, it is arranged on the top two ends of each fixed mount and for the guiding block for the frame end for positioning the multi-rotor unmanned aerial vehicle.
9. the device according to claim 2,3 or 7, it is characterised in that the control assembly includes：It is separately positioned on described
Carrier loader, unmanned plane landing plate and the sensor on charging assembly, the processor with sensor communication connection；
Wherein, the sensor being arranged on the carrier loader is tracking unit；
Each sensor is connected with its communications on part where it respectively.
10. a kind of automatic charging side of the multi-rotor unmanned aerial vehicle of the automatic charge device described in any one of application claim 1 to 8
Method, it is characterised in that methods described includes：
After multi-rotor unmanned aerial vehicle is dropped on the unmanned plane landing plate, the unmanned plane landing plate is sent to the control assembly
Landing information, the control assembly controls the push-rod assembly to push away the multi-rotor unmanned aerial vehicle according to the landing information of reception
Move to resting on the carrier loader of the unmanned plane landing panel side；
The transport that the carrier loader is sent according to the control assembly of reception is instructed, and is travelled in tracking mode and automatic decision
The charging assembly；And determine whether current charging assembly is occupied in the way of counting；
In carrier loader after idle charging assembly, the multi-rotor unmanned aerial vehicle is fixed on described fill by the carrier loader
In electrical component, and the information in place sent to the control assembly, it is then return to the unmanned plane landing panel side and awaits orders；
The control assembly thinks that the charging assembly sends charging instruction, the charging assembly according to the information in place of reception
The multi-rotor unmanned aerial vehicle is charged according to the charging instruction；
Stop charging when the battery for detecting the multi-rotor unmanned aerial vehicle in the charging assembly reaches blanking voltage, and to delivery
Dolly sends positional information, and the carrier loader reached at the charging assembly in tracking mode, and by multi-rotor unmanned aerial vehicle from institute
State after being unloaded at charging assembly, transport the unmanned plane landing plate side back；
And, the multi-rotor unmanned aerial vehicle is dragged to by the push-rod assembly on the unmanned plane landing plate from carrier loader pull-up
On the unmanned plane landing panel, the charging process to the multi-rotor unmanned aerial vehicle is completed.
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| CN201710265155.1A CN107140225B (en) | 2017-04-21 | 2017-04-21 | Automatic charging device and method for multi-rotor unmanned aerial vehicle |
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| CN201710265155.1A CN107140225B (en) | 2017-04-21 | 2017-04-21 | Automatic charging device and method for multi-rotor unmanned aerial vehicle |
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| CN110654259A (en) * | 2019-09-09 | 2020-01-07 | 广东工业大学 | Unmanned aerial vehicle charging system |
| CN111056032B (en) * | 2020-01-20 | 2021-07-20 | 上海交通大学 | Unmanned ship-borne unmanned aerial vehicle charging lifting system and implementation method |
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| CN111391690A (en) * | 2020-04-30 | 2020-07-10 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle charging system and method |
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| CN114030375A (en) * | 2021-11-18 | 2022-02-11 | 浙江正远电力装备有限公司 | Unmanned aerial vehicle multilayer storehouse of charging |
| CN114030375B (en) * | 2021-11-18 | 2024-02-09 | 浙江正远电力装备有限公司 | Unmanned aerial vehicle multilayer storehouse that charges |
| CN114750972A (en) * | 2022-04-27 | 2022-07-15 | 西安理工大学 | Multi-rotor unmanned aerial vehicle recovery auxiliary navigation device and method |
| CN114750972B (en) * | 2022-04-27 | 2024-05-14 | 西安理工大学 | Multi-rotor unmanned aerial vehicle recycling auxiliary navigation device and method |
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