CN107697263A - Platform is let in a kind of Large Airship transhipment fly away - Google Patents
Platform is let in a kind of Large Airship transhipment fly away Download PDFInfo
- Publication number
- CN107697263A CN107697263A CN201710726789.2A CN201710726789A CN107697263A CN 107697263 A CN107697263 A CN 107697263A CN 201710726789 A CN201710726789 A CN 201710726789A CN 107697263 A CN107697263 A CN 107697263A
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- main driving
- driving car
- slave module
- car
- turning motor
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- 238000009434 installation Methods 0.000 claims abstract description 21
- 239000013307 optical fiber Substances 0.000 claims abstract description 12
- 239000000835 fiber Substances 0.000 claims abstract description 7
- 238000010276 construction Methods 0.000 claims description 23
- 238000004891 communication Methods 0.000 claims description 11
- 239000004744 fabric Substances 0.000 claims description 10
- 238000003384 imaging method Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 5
- 239000006096 absorbing agent Substances 0.000 claims description 3
- 230000035939 shock Effects 0.000 claims description 3
- 241000237858 Gastropoda Species 0.000 claims 1
- 238000002592 echocardiography Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 10
- 238000012360 testing method Methods 0.000 description 6
- 230000007547 defect Effects 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 241001310793 Podium Species 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000001307 helium Substances 0.000 description 1
- 229910052734 helium Inorganic materials 0.000 description 1
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/005—Arrangements for landing or taking-off, e.g. alighting gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/66—Mooring attachments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
- B64F1/223—Ground or aircraft-carrier-deck installations for handling aircraft for towing aircraft
- B64F1/225—Vehicles specially adapted therefor, e.g. aircraft tow tractors
- B64F1/227—Vehicles specially adapted therefor, e.g. aircraft tow tractors for direct connection to aircraft, e.g. tow tractors without towing bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
- B64F1/223—Ground or aircraft-carrier-deck installations for handling aircraft for towing aircraft
- B64F1/225—Vehicles specially adapted therefor, e.g. aircraft tow tractors
- B64F1/228—Vehicles specially adapted therefor, e.g. aircraft tow tractors remotely controlled; operating autonomously
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Toys (AREA)
Abstract
The invention provides a kind of transhipment of Large Airship to let platform fly away, including main industrial computer (1), main driving car (2), CAN- optic fiber converters (4), slave module (5), first via CAN lines (6), second tunnel CAN (7), 3rd tunnel CAN (8), 4th tunnel CAN (9) and truss (10), it is characterized in that, described truss (10) includes girder truss (101), six face connectors (102), main driving car installation rood beam (103), hoist engine (104), mooring line (105) and control room (106), described main driving car (2) has four, described slave module (5) has more.Platform is let in the Large Airship transhipment of the present invention, which fly away, can conveniently control direct of travel and steering, and the distributed AC servo system transmitted using optical fiber, platform control system reliability is high, wiring is regular, is easy to safeguard and expands.
Description
Technical field
The invention belongs to technical field of aircraft design, platform and its control are let in more particularly to a kind of Large Airship transhipment fly away
Method.
Background technology
Blimp is also referred to as light-duty dirigible, and the intracapsular portion of ship is full of buoyance lift gas, and its profile is protected by adjusting inside and outside differential pressure
Hold.Blimp has the advantages such as fixed point is resident, cruising time is long, energy consumption is low, is suitable as carrying platform, different by carrying
Load completes each generic task.Dirigible relies primarily on the lift-off of buoyance lift gas as the aircraft for being lighter than air, is disturbed by Surface Winds Over
Dynamic to influence notable, the utricule of large-scale blimp is huge, and utricule handgrip is limited due to the structural strength of utricule material itself,
The wind speed constant interval very little that can bear, the mutation of ground wind speed, wind direction, it is likely to the destruction for causing dirigible utricule.Turn
Amplifier needs to ensure that load is parking safety when a little transporting between liberation point during flying, and transports the workflow for letting platform fly away
Cheng Wei：Platform band carries straight line outbound → arrival liberation point → platform rotates in place windward → and lets load → platform fly away and go back to outbound shape
State → platform straight line Hui Ku.
Let the functional requirement of process fly away according to dirigible, platform is let in transhipment, which fly away, to be needed with advance, retrogressing, sidesway and original place rotation
Rotating function, adjusted during for ensureing that dirigible is let fly away and required according to wind direction, at the same ensure can be with load Hui Ku under case of emergency will
Ask, and must have high security and reliability.
Transhipment of the prior art is let fly away platform and typically combined using the tractor group of separate type, then is by controlling
System control synchronizes motion, as a kind of discrete modularization Large Airship transhipment of Chinese patent application 201610695815.5 is put
Fly system and method.The defects of this mode is if synchronous control system failure or disturbed by electromagnetic interference, it is possible to
Causing transhipment to let platform fly away can not use, or even destroy dirigible utricule.And the main drive arrangement of conventional tractor group is
Rectangular arrangement, i.e., four main driving cars are distributed on the corner of a rectangle, and four main driving cars let pair of platform fly away to transport
Claim center line symmetrical two-by-two.The major defect of which be when one of them it is main driving car break down when, parallel main drive
The influence of differential can make platform driving trace shift between motor-car, cause it to roll fixed road away from, and influence lets process fly away, is
Reliability of uniting is low.
Also, existing transhipment let fly away platform to travelling, braking, turning to, the system such as safety assurance and instrument alarm be all
Using centerized fusion, these control circuits and sensor line disperse, and finally focus on the master controller of driver's cabin.Concentrating
In the case that formula controls, existing transhipment lets platform fly away there is also following defect, 1) central processing unit of master controller is responsible for place
All network communication and data processing are managed, traffic is big, requires high to central processing unit disposal ability；2) if a certain part goes out
Existing communication abnormality causes network congestion, and whole communication system can be caused to collapse, dangerous, cause the dirigible residence time long,
Utricule is caused to destroy, security is poor；3) analyzed from angle of lay, centerized fusion Communication Control line collects with power control line
In arrive main control room, wiring total amount is extremely huge, and easily causes electromagnetic interference, influences communication effect or even disturbs dirigible equipment
Work, wire harness, which is each attached to inside truss, waits more hidden place, and trouble is searched when going wrong, it is difficult that maintenance has been significantly greatly increased
Degree, the reliability of system are poor；4) its individual difference of the dirigible of different model is larger, and functional requirement differs, in centerized fusion
Due to master controller input and output and the unicity for the treatment of characteristic, wiring and interface are set extremely multiple when causing to increase subsystem
It is miscellaneous, transport the functions expanding for letting platform fly away and compatibility is poor.
The content of the invention
The goal of the invention of the present invention is to provide a kind of transhipment of Large Airship and lets platform fly away, can conveniently control direct of travel and
Turn to, the distributed AC servo system transmitted using optical fiber, platform control system reliability is high, wiring is regular, is easy to safeguard and expands.
The concrete technical scheme of the present invention is that platform is let in a kind of transhipment of Large Airship fly away, including main industrial computer, main driving car,
CAN- optic fiber converters, slave module, first via CAN lines, the second tunnel CAN, the 3rd tunnel CAN, the 4th road CAN are total
Line and truss, it is characterised in that
Described truss includes girder truss, six face connectors, main driving car installation rood beam, hoist engine, mooring line and control
Room processed, six described face connectors are rectangular parallelepiped structure, and four sides of six face connectors are respectively used to install the end of girder truss
Head, multiple six faces connector and Duo Gen girder trusses form square fenestral fabric, and described main driving car installation rood beam has
Four, it is separately mounted in a square net in square fenestral fabric, the four of four main driving car installation rood beams
Individual cross searching is located at using square fenestral fabric symmetrical centre as on the circumference in the center of circle respectively, described square latticed
The surrounding of structure has multiple hoist engines, and described hoist engine is by fastening the mooring line on the mooring line earrings of dirigible to consolidate
Determine dirigible, described control room is arranged on girder truss,
Described main industrial computer respectively with first via CAN lines, the second tunnel CAN, the 3rd tunnel CAN and the 4th tunnel
CAN is connected and is located in control room,
Described main driving car has four, and every main driving car includes main driving car industrial computer, main driving car turning motor
Encoder, main driving car turning motor controller, main driving car drive motor controller, main driving car batteries, main driving
Car CAN, main driving car turning motor, main driving car motor, main driving vehicle carriage, main driving car vehicle bridge, main driving
Car pivoting support and main drive motor vehicle wheels, described main driving car turning motor controller are used to control main driving car turning motor
Rotation, described main driving car drive motor controller be used for control it is main driving car motor rotation, described main drive
Motor-car turning motor encoder and main driving car turning motor controller are connected by optical fiber with first via CAN lines respectively, described
Main driving car drive motor controller be connected by optical fiber with the second tunnel CAN, described main driving car battery component
Not with it is main driving car turning motor controller and it is main driving car drive motor controller be connected, described main driving car industrial computer and
Main driving car CAN connection, main driving car turning motor encoder, main driving car turning motor controller and main driving car drive
Dynamic electric machine controller is also connected in main driving car CAN, when main industrial computer can not work, main driving car industrial computer
The upper main driving car operation of electric control, described main driving car pivoting support include inner ring, outer ring and driving worm screw, and main driving car returns
Rotating motor encoder is arranged at the driving worm screw of described main driving car pivoting support, for gathering main driving car pivoting support
Driving worm screw turned position, the inner ring of described main driving car pivoting support is arranged on described main driving vehicle carriage,
Main driving vehicle carriage is arranged in main driving car vehicle bridge by shock absorber, and described main driving car motor is arranged on main driving
On vehicle carriage, for main driving car vehicle wheel rotation of the drive installation in main driving car vehicle bridge, four masters of four main driving cars
The outer ring of driving car pivoting support is separately mounted on the lower surface of four main driving car installation rood beams, main driving car revolution branch
The center of circle for the outer ring held is positioned at the underface of the cross searching of main driving car installation rood beam, described main driving car turning motor
On main driving car installation rood beam, for driving the relative outer ring rotating of inner ring of main driving car pivoting support,
Described slave module has more, and every slave module includes slave module turning motor encoder, slave module
Turning motor controller, from dynamic model batteries, slave module turning motor, slave module pivoting support, upper bracket, spacing spiral shell
Nail, bradyseism spring, spring base, undersetting, slave module vehicle bridge and slave module wheel, described slave module turning motor are compiled
Code device is connected by optical fiber with the 4th tunnel CAN, and described slave module turning motor controller is turned round by slave module
Port on motor encoder is connected with the 4th tunnel CAN, and slave module turning motor controller is used to control slave module
The rotation of turning motor, it is described to be connected from dynamic model batteries with slave module turning motor controller, it is described from dynamic model
Block pivoting support includes inner ring, outer ring and driving worm screw, slave module turning motor encoder and is arranged on described slave module
At the driving worm screw of pivoting support, the turned position of the driving worm screw for gathering slave module pivoting support, described upper branch
Seat is upper end closed, the tubular construction of lower ending opening, and described undersetting is upper end open, the tubular construction of lower end closed, on
The tubular construction of bearing is enclosed in the tubular construction of undersetting, and the upper end of described bradyseism spring withstands on the upper end closed of upper bracket
On the lower surface of plate, the lower end of bradyseism spring is arranged on by described spring base on the upper surface of undersetting lower end closure plate,
Described stop screw is by being threadably mounted on the barrel of undersetting tubular construction and stretching into undersetting tubular construction, upper branch
Square through hole is provided with the barrel of the tubular construction of seat, it is square that one end that stop screw is stretched into undersetting tubular construction is located at this
In through hole, undersetting is arranged in described slave module vehicle bridge, and slave module vehicle bridge is used to install slave module wheel, described
Slave module pivoting support inner ring be arranged on upper bracket upper end closed plate upper surface on, the outer ring of more slave modules
It is separately mounted to multiple so that on the lower surface of the symmetrical six faces connector of truss symmetrical center line, the revolution of described slave module is electric
Machine is arranged on six face connectors, the rotation of the inner ring for driving slave module pivoting support,
Described CAN- optic fiber converters are used for first via CAN lines, the second tunnel CAN, the 3rd tunnel CAN, the 4th
Signal between road CAN and main driving car and slave module is changed.
Further, in addition to remote control, described remote control are connected in the 3rd tunnel CAN, are turned for realizing
Amplifier flies the remote operation of platform, possesses two kinds of communication modes of wire communication and wireless telecommunications, and can real-time display transhipment let fly away
The parameters such as the mode of operation of platform, speed, battery dump energy.
Further, in addition to mooring mast, described mooring mast can lift, for drawing the nose cone of dirigible.
Further, in addition to drive assist system, described drive assist system include embedded video collection mould
Block and imaging unit 2, described 2 imaging units are separately mounted in the symmetrical center line of described truss front and back end, are used
Road-center lane line is transported in shooting, described embedded video acquisition module is believed the image of 2 imaging units of collection
Number echoed, and carry out image recognition, real-time resolving car body relative to transhipment road-center lane line offset.
Further, described slave module has 16.
Platform is let fly away the beneficial effects of the invention are as follows transhipment 1) of the invention uses integral type truss structure, it is easy-to-dismount
Assembling, have four can centralized Control also independent control driving car, being capable of conveniently control direct of travel and steering；2) four
Driving car assumes diamond in shape arrangement, will not let platform sideslip fly away because the damage of a wherein chassis results in transhipment；3) transmitted using optical fiber
Distributed AC servo system, there is main industrial computer and from industrial computer, wiring is regular, is easy to safeguard, suitable for the dirigible of different model, turns
The functions expanding and compatibility of the winged platform of amplifier are good；4) drive assist system is carried, transhipment can be monitored in real time and let platform fly away
Motion conditions, in time correction.
Brief description of the drawings
Fig. 1 is that the schematic perspective view of platform is let in the Large Airship transhipment of the present invention fly away；
Fig. 2 is the top view that the truss of platform is let in the Large Airship transhipment of the present invention fly away；
Fig. 3 is that the girder truss of the truss of platform is let in the Large Airship transhipment of the present invention fly away and six face connectors connect solid and shown
It is intended to；
Fig. 4 is the main driving car installation rood beam top view that the truss of platform is let in the Large Airship transhipment of the present invention fly away；
Fig. 5 is that the control system connection diagram of platform is let in the Large Airship transhipment of the present invention fly away；
Fig. 6 is the top view that the main driving car of platform is let in the Large Airship transhipment of the present invention fly away；
Fig. 7 is the side view that the slave module of platform is let in the Large Airship transhipment of the present invention fly away.
Embodiment
Technical scheme is further described with reference to Figure of description.
As shown in accompanying drawing 1-2, platform is let in Large Airship of the invention transhipment fly away, including main industrial computer 1, main driving car 2,
CAN- optic fiber converters 4, slave module 5, first via CAN lines 6, the second tunnel CAN 7, the 3rd tunnel CAN 8, the 4th tunnel
CAN 9, truss 10 and mooring mast 11.Described mooring mast 11 can lift, for drawing the nose cone of dirigible 12.
As shown in accompanying drawing 3-4, described truss 10 includes girder truss 101, six face connectors 102, main driving car installation ten
Word beam 103, hoist engine 104, mooring line 105 and control room 106, six described face connectors 102 are rectangular parallelepiped structure, and six faces connect
Four sides of junctor 102 are respectively used to install the termination of girder truss 101, multiple six faces connector 102 and Duo Gen girder trusses 101
Form square fenestral fabric, described main driving car installation rood beam 103 there are four, is separately mounted to square latticed
In a square net in structure, four cross searchings of four main driving car installation rood beams 103 are located at square respectively
Fenestral fabric symmetrical centre for the center of circle circumference on, the surrounding of described square fenestral fabric has multiple hoist engines
104, described hoist engine 104 is described by fastening the mooring line 105 on the mooring line earrings of dirigible 12 to fix dirigible
Control room 106 is arranged on girder truss 101.
As shown in Figure 5, described main industrial computer 1 respectively with first via CAN lines 6, the second tunnel CAN 7, the 3rd tunnel
The tunnel CAN 9 of CAN 8 and the 4th connects and in control room 106.
As shown in Figure 6, described main driving car 2 has four, every main driving car 2 include main driving car industrial computer 201,
Main driving car turning motor encoder 202, main driving car turning motor controller 203, main driving car drive motor controller
204th, main driving car batteries 205, main driving car CAN 206, main driving car turning motor 207, main driving car driving electricity
Machine 208, main driving vehicle carriage 209, main driving car vehicle bridge 210, main driving car pivoting support 211 and main drive motor vehicle wheels 212, institute
The main driving car turning motor controller 203 stated is used for the rotation for controlling main driving car turning motor 207, described main driving car
Drive motor controller 204 is used for the rotation for controlling main driving car motor 208, described main driving car turning motor coding
Device 202 and main driving car turning motor controller 203 are connected by optical fiber with first via CAN lines 6 respectively, described main driving car
Drive motor controller 204 is connected by optical fiber with the second tunnel CAN 7, described main driving car batteries 205 respectively with
Main driving car turning motor controller 203 and main driving car drive motor controller 204 connect, described main driving car industrial computer
201 are connected with main driving car CAN 205, main driving car turning motor encoder 202, main driving car turning motor controller
203 and main driving car drive motor controller 204 be also connected in main driving car CAN 205, in main industrial computer 1 not
When can work, the main driving car 2 of electric control is run on main driving car industrial computer 201, and described main driving car pivoting support 211 includes
Inner ring, outer ring and driving worm screw, main driving car turning motor encoder 202 are arranged on described main driving car pivoting support 211
Driving worm screw at, the turned position of the driving worm screw for gathering main driving car pivoting support 211, described main driving car returns
The inner ring for turning supporting 211 is arranged on described main driving vehicle carriage 209, and main driving vehicle carriage 209 is arranged on by shock absorber
In main driving car vehicle bridge 210, described main driving car motor 208 is arranged on main driving vehicle carriage 209, is pacified for driving
Main drive motor vehicle wheels 212 in main driving car vehicle bridge 210 rotate, four main driving car revolution branch of four main driving cars 1
Hold 211 outer ring to be separately mounted on the lower surfaces of four main driving cars installation rood beams 103, main driving car pivoting support 211
Outer ring the center of circle positioned at it is main driving car installation rood beam 103 cross searching underface, described main driving car revolution electricity
Machine 207 is arranged on main driving car installation rood beam 103, for driving the inner ring of main driving car pivoting support 211 with respect to outer ring
Rotate.
As shown in Figure 7, described slave module 5 has 16, and every slave module 5 is compiled including slave module turning motor
Code device 501, slave module turning motor controller 502, from dynamic model batteries 503, slave module turning motor 504, driven
Module pivoting support 505, upper bracket 506, stop screw 507, bradyseism spring 508, spring base 509, undersetting 510, from dynamic model
Block vehicle bridge 511 and slave module wheel 512, described slave module turning motor encoder 501 pass through optical fiber and the 4th road CAN
Bus 9 connects, and described slave module turning motor controller 502 passes through the end on slave module turning motor encoder 501
Mouth is connected with the 4th tunnel CAN 9, and slave module turning motor controller 502 is used to control slave module turning motor 504
Rotate, described to be connected from dynamic model batteries 503 with slave module turning motor controller 502, described slave module returns
Turning supporting 505 includes inner ring, outer ring and driving worm screw, and slave module turning motor encoder 501 is installed in described from dynamic model
At the driving worm screw of block pivoting support 505, the turned position of the driving worm screw for gathering slave module pivoting support 505, institute
The upper bracket 506 stated is upper end closed, the tubular construction of lower ending opening, and described undersetting 510 is upper end open, lower end closed
Tubular construction, the tubular construction of upper bracket 506 is enclosed in the tubular construction of undersetting 510, described bradyseism spring 508 it is upper
End is withstood on the lower surface of upper end closed plate of upper bracket 506, and the lower end of bradyseism spring 508 is pacified by described spring base 509
On the upper surface of the lower end closure plate of undersetting 510, described stop screw 507 is by being threadably mounted at undersetting 510
On the barrel of shape structure and stretch into the tubular construction of undersetting 510, be provided with the barrel of the tubular construction of upper bracket 506 square logical
Hole, one end that stop screw 507 is stretched into the tubular construction of undersetting 510 are located in the square through hole, and undersetting 510 is arranged on institute
In the slave module vehicle bridge 511 stated, slave module vehicle bridge 511 is used to install slave module wheel 512, and described slave module returns
On the upper surface for the upper end closed plate that the inner ring for turning supporting 505 is arranged on upper bracket 506, the outer ring difference of more slave modules 5
Installed in multiple so that on the lower surface of the symmetrical six faces connector 102 of the symmetrical center line of truss 10, described slave module turns round
Motor 504 is arranged on six face connectors 102, the rotation of the inner ring for driving slave module pivoting support 505.
Described CAN- optic fiber converters 4 be used for first via CAN lines 6, the second tunnel CAN 7, the 3rd tunnel CAN 8,
Signal between 4th tunnel CAN 9 and main driving car 2 and slave module 5 is changed.
Platform is let in the Large Airship transhipment of the present invention, which fly away, also includes remote control 3 and drive assist system.
Described remote control 3 is connected in the 3rd tunnel CAN 8, for realizing that the remote operation of platform, tool are let in transhipment fly away
Standby two kinds of communication modes of wire communication and wireless telecommunications, and can real-time display transhipment let the mode of operation, speed, battery of platform fly away
The parameters such as dump energy.
Described drive assist system includes embedded video acquisition module and imaging unit 2, and described 2 imagings are single
Member is separately mounted in the symmetrical center line of the described front and back end of truss 10, and road-center lane line is transported for shooting, described
Embedded video acquisition module the picture signal of 2 imaging units of collection is echoed, and carry out image recognition, in real time
Resolve offset of the car body relative to transhipment road-center lane line.
The Large Airship transhipment of the present invention, which lets platform transfer fly away and lets the process of Large Airship fly away, is included in test site internal field pair
Dirigible is inflated and is transferred to transhipment and lets the process of platform fly away and let the process of Large Airship fly away in test site outfield.
Dirigible is inflated in test site internal field and is transferred to transhipment and lets the process of platform fly away and is comprised the following steps：
1) the drag-line tie point in Large Airship hull both sides lays drag-line, and each drag-line tie point lays drag-line simultaneously
Two drag-lines of A and drag-line B；
2) by the drag-line A earth anchor phases corresponding with Ground in test site with the connection of the drag-line tie point of Large Airship
Even, Large Airship is made to anchor in the ground in test site internal field；
3) helium is filled to Large Airship utricule, makes dirigible because natural buoyancy floats, while slowly lengthen dirigible and earth anchor phase
Drag-line A even, dirigible is on the whole floating to the height for letting podium level fly away higher than present invention transhipment；
4) driving transhipment lets platform fly away and slowly drives into underside of airship along dirigible axis from Large Airship deflection arch or ship tail
Underface；
5) let drag-line B fly away platform correspondence position hoist engines with transhipment to be connected, start each hoist engine simultaneously after connection,
Drag-line B is slowly shunk, drag-line A now as protection rope, makes dirigible drop to transhipment and let fly away on platform；
6) drag-line B is used to fix Large Airship as mooring line, releases drag-line A, completes dirigible and inflates and be transferred to transhipment
Let the process of platform fly away.
The process for letting Large Airship fly away in test site outfield comprises the following steps：
1) after receiving outbound and letting instruction fly away, it is flat to check that Large Airship and the transhipment of the invention for carrying Large Airship are let fly away
The end-state of platform；
2) let the transhipment of the Large Airship of carrying fly away platform and output boathouse, at the uniform velocity advance along road is let fly away；
3) according to meteorological condition, let region fly away let road fly away, start cast off rope, dirigible departs from mooring line liter
Sky, transhipment are let platform fly away and continued to move forward to letting road terminal fly away.
Claims (5)
1. platform, including main industrial computer (1), main driving car (2), CAN- optic fiber converters are let in a kind of Large Airship transhipment fly away
(4), slave module (5), first via CAN lines (6), the second tunnel CAN (7), the 3rd tunnel CAN (8), the 4th road CAN are total
Line (9) and truss (10), it is characterised in that
Described truss (10) includes girder truss (101), six face connectors (102), main driving car installation rood beam (103), volume
Machine (104), mooring line (105) and control room (106) are raised, six described face connectors (102) are rectangular parallelepiped structure, and six faces connect
Four sides of body (102) are respectively used to install the termination of girder truss (101), multiple six faces connector (102) and more truss
Beam (101) forms square fenestral fabric, and described main driving car installation rood beam (103) has four, the side of being separately mounted to
In a square net in the fenestral fabric of shape, four cross searchings point of four main driving car installation rood beams (103)
Wei Yu not be using square fenestral fabric symmetrical centre as on the circumference in the center of circle, the surrounding of described square fenestral fabric has
There are multiple hoist engines (104), described hoist engine (104) is by fastening the mooring line on the mooring line earrings of dirigible (12)
(105) to fix dirigible, described control room (106) is arranged on girder truss (101),
Described main industrial computer (1) respectively with first via CAN lines (6), the second tunnel CAN (7), the 3rd tunnel CAN (8) and
4th tunnel CAN (9) connects and in control room (106),
Described main driving car (2) has four, and every main driving car (2) includes main driving car industrial computer (201), main driving car returns
Rotating motor encoder (202), main driving car turning motor controller (203), main driving car drive motor controller (204), master
Drive car batteries (205), main driving car CAN (206), main driving car turning motor (207), main driving car driving electricity
Machine (208), main driving vehicle carriage (209), main driving car vehicle bridge (210), main driving car pivoting support (211) and main driving car car
To take turns (212), described main driving car turning motor controller (203) is used for the rotation for controlling main driving car turning motor (207),
Described main driving car drive motor controller (204) is used for the rotation for controlling main driving car motor (208), described master
Driving car turning motor encoder (202) and main driving car turning motor controller (203) pass through optical fiber and first via CAN respectively
Line (6) is connected, and described main driving car drive motor controller (204) is connected by optical fiber with the second tunnel CAN (7), institute
The main driving car batteries (205) stated drive car turning motor controller (203) and main driving car motor with main respectively
Controller (204) connects, and described main driving car industrial computer (201) is connected with main driving car CAN (205), main driving car
Turning motor encoder (202), main driving car turning motor controller (203) and main driving car drive motor controller (204)
Also it is connected on main driving car CAN (205), when main industrial computer (1) can not work, main driving car industrial computer
(201) main driving car (2) operation of electric control on, described main driving car pivoting support (211) include inner ring, outer ring and driving snail
Bar, main driving car turning motor encoder (202) are arranged at the driving worm screw of described main driving car pivoting support (211),
For the turned position for the driving worm screw for gathering main driving car pivoting support (211), described main driving car pivoting support (211)
Inner ring be arranged on described main driving vehicle carriage (209), main driving vehicle carriage (209) by shock absorber is arranged on main driving
In car vehicle bridge (210), described main driving car motor (208) is arranged on main driving vehicle carriage (209), is pacified for driving
Main drive motor vehicle wheels (212) on main driving car vehicle bridge (210) rotate, four main driving cars of four main driving cars (1)
The outer ring of pivoting support (211) is separately mounted on the lower surface of four main driving car installation rood beams (103), and main driving car returns
Turn the center of circle of the outer ring of supporting (211) positioned at the underface of the cross searching of main driving car installation rood beam (103), described master
Car turning motor (207) is driven to be arranged on main driving car installation rood beam (103), for driving main driving car pivoting support
(211) inner ring with respect to outer ring rotating,
Described slave module (5) has more, every slave module (5) include slave module turning motor encoder (501), from
Dynamic model block turning motor controller (502), from dynamic model batteries (503), slave module turning motor (504), slave module
Pivoting support (505), upper bracket (506), stop screw (507), bradyseism spring (508), spring base (509), undersetting
(510), slave module vehicle bridge (511) and slave module wheel (512), described slave module turning motor encoder (501)
It is connected by optical fiber with the 4th tunnel CAN (9), described slave module turning motor controller (502) passes through slave module
Port on turning motor encoder (501) is connected with the 4th tunnel CAN (9), slave module turning motor controller (502)
It is described from dynamic model batteries (503) and slave module revolution electricity for controlling the rotation of slave module turning motor (504)
Machine controller (502) connects, and described slave module pivoting support (505) includes inner ring, outer ring and driving worm screw, slave module
Turning motor encoder (501) is arranged at the driving worm screw of described slave module pivoting support (505), driven for gathering
The turned position of the driving worm screw of module pivoting support (505), described upper bracket (506) are upper end closed, lower ending opening
Tubular construction, described undersetting (510) is upper end open, the tubular construction of lower end closed, the tubular construction of upper bracket (506)
It is enclosed in the tubular construction of undersetting (510), the upper end of described bradyseism spring (508) withstands on the upper end seal of upper bracket (506)
On the lower surface of closing plate, the lower end of bradyseism spring (508) is arranged on undersetting (510) lower end by described spring base (509)
On the upper surface of closed plate, described stop screw (507) is by being threadably mounted on the barrel of undersetting (510) tubular construction
And stretch into undersetting (510) tubular construction, square through hole, spacing spiral shell are provided with the barrel of the tubular construction of upper bracket (506)
One end that nail (507) is stretched into undersetting (510) tubular construction is located in the square through hole, and undersetting (510) is arranged on described
Slave module vehicle bridge (511) on, slave module vehicle bridge (511) be used for slave module wheel (512) is installed, it is described from dynamic model
The inner ring of block pivoting support (505) is arranged on the upper surface of the upper end closed plate of upper bracket (506), more slave modules (5)
Outer ring be separately mounted to it is multiple with the lower surface of the symmetrical six faces connector (102) of truss (10) symmetrical center line, it is described
Slave module turning motor (504) be arranged on six face connectors (102) on, for driving slave module pivoting support (505)
Inner ring rotation,
Described CAN- optic fiber converters (4) are used for first via CAN lines (6), the second tunnel CAN (7), the 3rd tunnel CAN
(8), the signal between the 4th tunnel CAN (9) and main driving car (2) and slave module (5) is changed.
2. platform is let in a kind of Large Airship transhipment as claimed in claim 1 fly away, it is characterised in that also including remote control (3), institute
The remote control (3) stated is connected in the 3rd tunnel CAN (8), for realizing that the remote operation of platform is let in transhipment fly away, is possessed wired
Communication and two kinds of communication modes of wireless telecommunications, and can real-time display transhipment let fly away platform mode of operation, speed, remaining battery electricity
The parameters such as amount.
3. platform is let in a kind of Large Airship transhipment as claimed in claim 2 fly away, it is characterised in that also including mooring mast (11),
Described mooring mast (11) can lift, for drawing the nose cone of dirigible (12).
4. platform is let in a kind of Large Airship transhipment as claimed in claim 3 fly away, it is characterised in that also includes driving auxiliary system
System, described drive assist system include embedded video acquisition module and imaging unit 2, described 2 imaging units point
In the symmetrical center line of truss (10) front and back end that An Zhuan be not described, road-center lane line is transported for shooting, it is described
Embedded video acquisition module echoes to the picture signal of 2 imaging units of collection, and carries out image recognition, in real time solution
Calculate offset of the car body relative to transhipment road-center lane line.
5. platform is let in a kind of Large Airship transhipment as claimed in claim 4 fly away, it is characterised in that described slave module (5)
There are 16.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710726789.2A CN107697263B (en) | 2017-08-23 | 2017-08-23 | Large airship transferring and flying platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710726789.2A CN107697263B (en) | 2017-08-23 | 2017-08-23 | Large airship transferring and flying platform |
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| CN107697263A true CN107697263A (en) | 2018-02-16 |
| CN107697263B CN107697263B (en) | 2020-07-07 |
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| CN201710726789.2A Active CN107697263B (en) | 2017-08-23 | 2017-08-23 | Large airship transferring and flying platform |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038722A (en) * | 2019-12-18 | 2020-04-21 | 北京临近空间飞艇技术开发有限公司 | Universal type dynamic type flying recovery system and method for near space aerostat |
| CN111547222A (en) * | 2020-04-15 | 2020-08-18 | 中国科学院空天信息创新研究院 | System for be used for stratospheric airship to transport and provide |
| WO2021194602A3 (en) * | 2019-12-12 | 2021-12-09 | Loon Llc | Optically assisted balloon launch system |
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| CN106275485A (en) * | 2016-08-19 | 2017-01-04 | 中国人民解放军63655部队 | System and method is let in a kind of discrete modularity Large Airship transhipment fly away |
| AU2016203601B1 (en) * | 2016-03-18 | 2017-05-11 | Loon Llc | Portable balloon launch rig |
| CN107054610A (en) * | 2017-06-01 | 2017-08-18 | 北京天宇新超航空科技有限公司 | The scheme of kite balloon airship in sky when a kind of long |
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| US5509624A (en) * | 1992-02-17 | 1996-04-23 | Masakatsu Takahashi | Landing apparatus for airship and the like |
| CN103612741A (en) * | 2013-12-16 | 2014-03-05 | 江苏科技大学 | Engine driven type captive balloon lift-off recovery system |
| AU2016203601B1 (en) * | 2016-03-18 | 2017-05-11 | Loon Llc | Portable balloon launch rig |
| CN106275485A (en) * | 2016-08-19 | 2017-01-04 | 中国人民解放军63655部队 | System and method is let in a kind of discrete modularity Large Airship transhipment fly away |
| CN107054610A (en) * | 2017-06-01 | 2017-08-18 | 北京天宇新超航空科技有限公司 | The scheme of kite balloon airship in sky when a kind of long |
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| WO2021194602A3 (en) * | 2019-12-12 | 2021-12-09 | Loon Llc | Optically assisted balloon launch system |
| CN111038722A (en) * | 2019-12-18 | 2020-04-21 | 北京临近空间飞艇技术开发有限公司 | Universal type dynamic type flying recovery system and method for near space aerostat |
| CN111547222A (en) * | 2020-04-15 | 2020-08-18 | 中国科学院空天信息创新研究院 | System for be used for stratospheric airship to transport and provide |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107697263B (en) | 2020-07-07 |
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Effective date of registration: 20211104 Address after: 471000 sub box F11, PO Box 086, Luoyang City, Henan Province Patentee after: Chinese People's Liberation Army 63660 Address before: 841700 Xinjiang Uygur Autonomous Region Urumqi 21 mailbox 190 Patentee before: 63653 FORCES, PLA |