CN110606220A - Mobile small unmanned aerial vehicle intelligent launching and recovery platform - Google Patents
Mobile small unmanned aerial vehicle intelligent launching and recovery platform Download PDFInfo
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- CN110606220A CN110606220A CN201910891083.0A CN201910891083A CN110606220A CN 110606220 A CN110606220 A CN 110606220A CN 201910891083 A CN201910891083 A CN 201910891083A CN 110606220 A CN110606220 A CN 110606220A
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- 238000011084 recovery Methods 0.000 title claims abstract description 24
- 238000005096 rolling process Methods 0.000 claims abstract description 32
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 10
- 230000007613 environmental effect Effects 0.000 claims description 10
- 238000005452 bending Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 3
- 238000004064 recycling Methods 0.000 claims description 3
- 238000007373 indentation Methods 0.000 claims description 2
- 238000007789 sealing Methods 0.000 description 6
- 238000007667 floating Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 241000758791 Juglandaceae Species 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical group [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002079 cooperative effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000011796 hollow space material Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 239000012466 permeate Substances 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
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- 239000000126 substance Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
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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
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
- B64F1/10—Ground or aircraft-carrier-deck installations for launching aircraft using self-propelled vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01W—METEOROLOGY
- G01W1/00—Meteorology
- G01W1/02—Instruments for indicating weather conditions by measuring two or more variables, e.g. humidity, pressure, temperature, cloud cover or wind speed
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- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
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- Biodiversity & Conservation Biology (AREA)
- Environmental Sciences (AREA)
- Ecology (AREA)
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Abstract
The invention discloses a mobile small unmanned aerial vehicle intelligent launching and recovery platform, which comprises an intelligent vehicle which is supported by four wheels and is provided with an open cavity, wherein the periphery of the intelligent vehicle consists of a fixed front door of the vehicle, left and right fixed doors, left and right movable doors and a rolling curtain-shaped rear door; the intelligent vehicle further comprises an automatic grabbing device, a comprehensive controller, a communicator, an environment controller and a power supply device which are arranged in the intelligent vehicle body, and the automatic grabbing device and the comprehensive controller, the communicator, the environment controller and the power supply device are controlled by a manual master control console. The invention can adapt to complex environment, can schedule in real time according to the requirement of a task, has strong flexibility, more importantly, the platform can finish the taking off and landing of the unmanned aerial vehicle in a moving state, and meanwhile, the intelligent mobile platform is used for ground reconnaissance and can play a great role in a modern battlefield.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a mobile small-sized unmanned aerial vehicle intelligent launching and recovery platform.
Background
In recent years, with the rapid development of the unmanned aerial vehicle industry in China, the number of consumption-level and industrial-level unmanned aerial vehicles is increased day by day, the application of the unmanned aerial vehicles permeates into various fields, the development speed of the unmanned aerial vehicles is too fast, and the development speed of infrastructure matched with the unmanned aerial vehicles is too slow. Most of consumption level unmanned aerial vehicle, industrial level unmanned aerial vehicle and for military use unmanned aerial vehicle in the existing market are the task of accomplishing under operating personnel's participation, and the infrastructure of descending after-maintenance is perfect inadequately, especially the automatic task of charging after unmanned aerial vehicle retrieves. Simultaneously, when unmanned aerial vehicle field execution task, the continuation of the journey problem and the all-terrain take off and land problem when external environment is abominable, remote execution task also are showing gradually, and from the military affairs perspective, the platform that takes off and land that is used for unmanned aerial vehicle to retrieve and launch on the ground must have the ability of rapid transit, needs an intelligence transmission and retrieves the platform in order to solve above-mentioned problem urgently.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the mobile small unmanned aerial vehicle intelligent launching and recovery platform which can adapt to a complex environment, can be scheduled in real time according to the task requirement and has strong flexibility.
A mobile small unmanned aerial vehicle intelligent launching and recovery platform comprises an intelligent vehicle which is supported by four wheels and provided with an open cavity, wherein the periphery of the intelligent vehicle consists of a fixed front door of the intelligent vehicle, a left side fixed door, a right side fixed door, a left side movable door, a right side movable door and a rolling curtain-shaped rear door, an upper cover is a movable door, a binocular camera and a laser radar are installed on the outer side of the front door of the intelligent vehicle, and a weather acquisition device is installed on the top of the upper cover; the intelligent vehicle also comprises an automatic gripping device, a comprehensive controller, a communicator, an environment controller and a power supply device which are arranged in the intelligent vehicle body and are controlled by a manual master control console; the automatic gripping device is arranged on a vehicle body chassis in the intelligent vehicle close to the rolling curtain-shaped back door and consists of a six-degree-of-freedom mechanical arm and a mechanical arm, the six-degree-of-freedom mechanical arm is fixed on the vehicle body chassis through a fixer, and the other end of the six-degree-of-freedom mechanical arm is connected with the mechanical arm; the integrated controller, the communicator, the environment controller and the power supply device are installed in the intelligent vehicle and close to a front door, the integrated controller controls the communicator, the environment controller and the power supply device through signal lines, the power supply device provides electric energy for the integrated controller, the communicator, the environment controller and the automatic charging panel through two power lines, and the weather collecting device is electrically connected with the integrated controller.
The intelligent vehicle front door and the left and right fixed doors are fixed on a vehicle body chassis, the inner sides of the left and right fixed doors are provided with a lead screw, a lead screw motor and a lead screw guide groove, the top end of the left and right fixed doors is provided with a gear groove, and the lead screw motor is electrically connected with the comprehensive controller; the rolling curtain-shaped back door and the left and right moving doors are movable structures, a screw guide rail is arranged on the outer side of the left and right moving doors and is matched with a screw guide groove on the inner side of the left and right fixed doors, a screw groove is formed in the screw guide rail, the rolling curtain-shaped back door is composed of two rolling curtain-shaped structures which can freely stretch and retract, the contact positions of the two parts of the rolling curtain-shaped back door are sucked by an electromagnetic relay lock which is electrically connected with a comprehensive controller, and the interior of the left and right moving doors is hollow and is used for accommodating the rolling curtain-shaped back door; the upper cover of the intelligent vehicle is divided into an upper cover front side movable door and an upper cover rear side movable door.
The six-degree-of-freedom mechanical arm comprises four mechanical arms, the fixer is sequentially connected with the rotary mechanical arm, the first mechanical arm, the second mechanical arm and the corner mechanical arm through the rotary motor, and all the rotary motors are electrically connected with the comprehensive controller.
The manipulator comprises multi-functional center disk and rotatable mechanical limb section, and multi-functional center disk is the device of rectangle, and the distancer is installed at the center, installs image recognition mark point all around the distancer, installs the mechanical limb section's that is connected with comprehensive controller electricity in four flutings that multi-functional center disk side was seted up and bends and stretch the motor, connects mechanical limb section through bending and stretching the motor and realizes its rotation at 0 ~ 270, and mechanical limb section surface mounting has automatic charging board, pressure sensor.
The intelligent vehicle can also be used as a ground reconnaissance vehicle.
The meteorological data acquisition device is fixedly arranged on a front side moving door of an upper cover of the intelligent vehicle and comprises a wind sensor, a rainwater sensor and a temperature and humidity sensor, and acquired environmental data are transmitted to an environmental controller of the platform.
The unmanned aerial vehicle is suitable for small-size fixed wing unmanned aerial vehicles and many rotor unmanned aerial vehicles.
The intelligent launching and recovering method of the mobile small unmanned aerial vehicle intelligent launching and recovering platform comprises the following steps:
(1) intelligent recycling
When the unmanned aerial vehicle needs to land, the flight control starts an automatic landing program of the flight control system, a platform with the closest distance is screened through a flight control algorithm of the flight control system, a real-time communication local area network between the platform and the platform is established by sending a communication command through a radio signal, the platform transmits coordinates of the platform to the flight control of the unmanned aerial vehicle in real time, then the platform starts to act to expose a mechanical arm and a mechanical arm outside, a communicator of the platform transmits coordinate points to the flight control of the unmanned aerial vehicle through the radio signal, the unmanned aerial vehicle plans a track route from a current position to the positions of the coordinate points through the flight control carried by the unmanned aerial vehicle, the flight control adjusts the flight attitude of the unmanned aerial vehicle to the positioned coordinate points, the platform adjusts the speed of the platform to be slightly lower than the landing speed of the unmanned aerial vehicle, an image identification camera tracks image identification points on a multifunctional center panel, and when a foot rest of, then, the unmanned aerial vehicle is retracted into the intelligent vehicle;
(2) intelligent launching
When unmanned aerial vehicle received the task and will take off, the platform was opened, and the intelligent vehicle accelerates to 80% of self the highest speed of a motor vehicle, and unmanned aerial vehicle starts with higher speed, synthesizes comprehensive controller and removes the locking state to unmanned aerial vehicle, and the unmanned aerial vehicle foot rest is packed up and is walked away, and inside the arm folded the indentation automobile body simultaneously with the manipulator, the intelligent door was closed in proper order.
The invention has the beneficial effects that:
1. according to the invention, through perfect matching of the movable intelligent vehicle, the vehicle-mounted mechanical arm and the mechanical arm, the problem of moving take-off and landing of the small-sized fixed-wing multi-rotor unmanned aerial vehicle at the present stage is solved, and the blank of intelligent recovery in the flight process of the unmanned aerial vehicle is made up;
2. the mobile intelligent vehicle is used as a carrier platform for taking off and landing of the unmanned aerial vehicle, can be used for storing the unmanned aerial vehicle and the unmanned aerial vehicle for taking off and landing, and can adapt to external complex environments by the aid of the laser positioner and the binocular camera which are arranged at the front of the vehicle body and also can be used as a ground reconnaissance vehicle;
3. according to the intelligent vehicle, the rolling curtain-shaped rear door, the left and right movable doors and the upper cover can move in the preset track, so that the closed area of the vehicle body is reduced, an open space is provided, and the unmanned aerial vehicle can smoothly finish lifting;
4. the six-degree-of-freedom mechanical arm comprises four mechanical arms and a fixer, is arranged on a vehicle body chassis in the intelligent vehicle and can move freely in a range taking the fixer as a circle center, and the rotating motor on each mechanical arm ensures that the mechanical arm moves flexibly under the action of a control instruction, so that the mechanical arm can be always in a horizontal state even in an area with complex terrain, and favorable guarantee is provided for accurately grabbing the unmanned aerial vehicle;
5. the manipulator consists of a multifunctional central disc and a rotatable mechanical limb joint, wherein a distance measuring instrument and an image recognition identification point are arranged on the multifunctional central disc, an automatic charging plate and a pressure sensor are arranged on the mechanical limb joint, and the flexible mechanical limb joint and various sensors ensure that the manipulator accurately grabs and charges the unmanned aerial vehicle;
6. the image recognition camera arranged on the unmanned aerial vehicle pedestal can adjust the position of the unmanned aerial vehicle according to the image recognition point on the multifunctional central disk, the distance meter on the multifunctional central disk can measure the distance between the unmanned aerial vehicle and the manipulator when the unmanned aerial vehicle lands, and the intelligent vehicle can adjust the position and speed of the intelligent vehicle according to the information to ensure that the unmanned aerial vehicle can land accurately;
7. the top of the upper cover of the intelligent vehicle is provided with the meteorological acquisition device, and acquired meteorological information is used as a reference factor of the unmanned plane, so that the unmanned plane is prevented from being damaged in the weather of strong wind and strong rain;
8. according to the intelligent vehicle, the field reconnaissance of the intelligent vehicle and the taking-off and landing of the unmanned aerial vehicle are realized by customizing the integrated controller, the normal operation of the vehicle body moving door, the automatic grabbing of the mechanical arm and the charging of the automatic charging plate are perfectly combined, and the platform is guaranteed to provide reliable guarantee for the platform to execute complex reconnaissance and taking-off and landing tasks.
Drawings
FIG. 1 is a schematic view of the external structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a schematic view of the intelligent vehicle door of the present invention;
FIG. 4 is a schematic diagram showing the construction of a robot arm and manipulator according to the present invention in detail;
FIG. 5 is a schematic view of the present invention in a state where the small fixed wing drone is landing;
FIG. 6 is a schematic view of the present invention in a folded and retracted state of a small fixed wing drone;
FIG. 7 is a schematic view of the present invention in a state during take-off of a small fixed wing drone;
FIG. 8 is a schematic view of a robot grasping a small fixed wing drone according to the present invention;
fig. 9 is a schematic view of the state of the grabbing multi-rotor drone during landing according to the present invention;
fig. 10 is a schematic view of a multi-rotor drone taking off on the platform of the present invention;
wherein the content of the first and second substances,
1 smart car, 11 front car door, 111 binocular camera 112 laser radar, 12 left and right fixed doors, 121 lead screw guide groove, 122 lead screw motor, 123 lead screw, 124 gear groove, 125 rack, 13 left and right movable doors, 131 lead screw guide rail, 132 lead screw groove, 133 back door storage chamber, 14 upper cover back movable door, 15 upper cover front movable door, 151 gear motor, 152 gear, 16 rolling curtain shaped back door, 161 electromagnetic relay lock, 161a sealing electromagnet, 161b sealing groove, 2 mechanical arm, 21 fixer, 22 rotary mechanical arm, 23 first mechanical arm, 24 second mechanical arm, 25 corner mechanical arm, 26 rotary motor, 3 mechanical arm, 31 multifunctional center plate, 311 image recognition mark point, 312 range finder, 32 mechanical limb, 321 pressure sensor, 322 automatic charging plate, 33 bending motor, 4 fixed wing unmanned aerial vehicle, 41 image recognition camera, 42 fixed unmanned aerial vehicle wing foot rest, 43, automatic charging board electrified piece, 5 meteorological collection system, 51 wind sensor, 52 rain sensor, 53 temperature and humidity sensor, 6 integrated control ware, 7 communicators, 8 environmental control ware, 9 power supply unit, 10 many rotor unmanned aerial vehicle, 101 many rotor unmanned aerial vehicle foot rests.
Detailed Description
For better understanding of the present invention, the technical solutions and effects of the present invention will be described in detail by the following embodiments with reference to the accompanying drawings.
Example 1
As shown in fig. 1-2, a portable unmanned aerial vehicle intelligence transmission and recovery platform, including by the intelligent car 1 that has the opening cavity that four wheels supported, intelligent car 1 is all around by fixed car qianmen 11, left and right sides fixed door 12, left and right sides floating gate 13, roll up curtain form back door 16 and constitute, still includes automatic grabbing device and integrated controller 6 in the intelligent car body, communicator 7, environmental controller 8, power supply unit 9 to receive artifical master control platform control. The integrated controller 6, the communicator 7, the environment controller 8 and the power supply device 9 are installed in the intelligent vehicle close to a front door, the integrated controller 6 controls the communicator 7, the environment controller 8 and the power supply device 9 through signal lines, and the power supply device 7 supplies electric energy to the integrated controller 6, the communicator 7 and the environment controller 8 through two power lines.
The integrated controller 6 is a control center of the platform, collects the information of the working states of all the parts through an internal electronic circuit, and sends out control instructions to control the cooperative action of all the actuating mechanisms connected with the integrated controller so as to realize the functions of intelligent launching, recovery and automatic reconnaissance of the platform on the unmanned aerial vehicle.
The power supply device 9 comprises a cable, a power supply, a relay, a power converter and an alarm, wherein the power supply is a storage battery carried in the platform, the storage battery is a lithium battery or a fuel battery, and electric energy stored by the battery directly supplies power for the platform intelligent vehicle and other devices needing electricity; the cable is inlaid at the edge or inside of the platform and cannot interfere with the normal operation of the platform.
The environmental controller 8 includes temperature detection sensor (not shown in the figure) and constant temperature control module (not shown in the figure), and wherein, temperature detection sensor is used for detecting the temperature in the storehouse unit, and constant temperature control module is built-in miniature air conditioner, and the platform can read the humiture information that suitable storage of descending unmanned aerial vehicle, judges whether the inside miniature air conditioner that needs to start of platform.
The communicator 7 is used for information communication between platform and the unmanned aerial vehicle, with the communication between other the same kind of platform and with the communication of artifical master control platform, the communicator 7 gives artifical master control platform with platform and unmanned aerial vehicle's real-time information transmission, and when emergency appeared in the platform, the alarm of integrated controller can send alarm signal suggestion platform and break down.
As shown in fig. 3, the upper cover of the intelligent vehicle 1 is a movable door, and is divided into an upper cover front side movable door 15 and an upper cover rear side movable door 16, the upper cover rear side movable door 16 can extend into the upper cover front side movable door 15, and a gear motor 151 and a gear 152 are installed at the lower part of the upper cover front side movable door 15; the front door 11 and the left and right fixed doors 12 of the intelligent vehicle are fixed on a vehicle body chassis and are not detachable, the inner sides of the left and right fixed doors 12 are provided with a lead screw 123, a lead screw motor 122 and a lead screw guide groove 121, and the lead screw motor 122 is electrically connected with the integrated controller 6; the top of the left and right fixed doors is provided with a gear groove 124, the inside of the fixed doors is provided with a rack 125, and the rack is meshed with a gear 152 to ensure that the upper cover front moving door 15 can move along the gear groove 124; the rolling curtain type rear door 16 and the left and right movable doors 13 are movable structures, the outer sides of the left and right movable doors 13 are provided with lead screw guide rails 131 which are matched with the lead screw guide grooves 121 on the inner sides of the left and right fixed doors 12 and used for moving the left and right movable doors 13, and the lead screw guide rails 131 are internally provided with lead screw grooves 132 for placing lead screws 123; the rolling curtain-shaped back door 16 is composed of two rolling curtain-shaped structures which can freely stretch out and draw back, the contact position of the two rolling curtain-shaped back doors 16 is sucked by an electromagnetic relay lock 161 which is electrically connected with the integrated controller 6, and the electromagnetic relay lock 161 is composed of a sealing electromagnet 161a and a sealing groove 161b which are respectively arranged on the two rolling curtain-shaped back doors; a hollow space inside the left and right side moving doors 13 is a rear door storage room 133 for storing the roll-up rear door 16; the gear motor 151 and the gear 152 are respectively arranged at the lower parts of the two doors of the rolling curtain-shaped rear door 16, the rack 125 is arranged at the position corresponding to the rolling curtain-shaped rear door 16 on the chassis of the intelligent vehicle 1 body and is meshed with the gear 152 of the rolling curtain-shaped rear door 16, and the rolling curtain-shaped rear door 16 moves under the driving of the gear motor 151.
The intelligent vehicle 1 is characterized in that a weather acquisition device 5 is installed on the top of an upper cover of the intelligent vehicle 1 and is electrically connected with a comprehensive controller 6, the weather acquisition device comprises a wind sensor 51, a rainwater sensor 52 and a temperature and humidity sensor 53, acquired environmental data are transmitted to the comprehensive controller 6 of the platform, and the comprehensive controller 6 determines an execution task scheme of the intelligent mobile platform according to external environmental parameters and a control instruction of an artificial general control platform transmitted by a communicator 7.
The intelligent vehicle 1 can also be used as a ground reconnaissance vehicle, a binocular camera 111 and a laser radar 112 are installed on the outer side of a front door 11 of the intelligent vehicle, the intelligent vehicle can automatically walk in strange environments, a three-dimensional map is established according to searched information, namely surrounding environments, the map is transmitted to the integrated controller 6 through the communicator 7, the map is used for obstacle avoidance walking of the intelligent vehicle 1, and the map is transmitted to the manual main control table for workers to know surrounding conditions.
As shown in fig. 4, the automatic gripping device is installed in the intelligent vehicle 1 at a position where the vehicle body chassis is close to the rolling blind-shaped back door 16, and is composed of a six-degree-of-freedom mechanical arm 2 and a mechanical arm 3, the six-degree-of-freedom mechanical arm 2 is fixed on the vehicle body chassis through a fixer 21, and the other end of the six-degree-of-freedom mechanical arm is connected with the mechanical arm 3; the six-degree-of-freedom mechanical arm 2 comprises four mechanical arms and a fixer, wherein the four mechanical arms comprise: the fixing device comprises a rotary mechanical arm 22, a first section of mechanical arm 23, a second section of mechanical arm 24 and a corner mechanical arm 25, the fixing device 21 is sequentially connected with the rotary mechanical arm 22, the first section of mechanical arm 23, the second section of mechanical arm 24 and the corner mechanical arm 25 through a rotary motor 26, and all the rotary motors 26 are electrically connected with the integrated controller 6. Relative to the plane of the chassis of the vehicle body, the bottom of the rotary mechanical arm 22 in the vertical direction is arranged on the fixer 21 to realize the rotation in the Z-axis direction, the horizontal direction is connected with the first section of mechanical arm 23 through the rotating motor 26 to realize the rotation in the Y-axis direction, the second section of mechanical arm 24 is arranged at one end of the first section of mechanical arm 23 with the motor, the corner mechanical arm 25 is arranged at one end of the second section of mechanical arm 24 with the motor, and one end of the corner mechanical arm 25 with the motor is connected with the multifunctional center plate 31 of the mechanical arm 3.
The multifunctional central disc 31 of the manipulator 3 is a rectangular device, the distance measuring instrument 312 is installed in the center, image recognition identification points 311 are installed on the periphery of the distance measuring instrument 312, the manipulator 3 further comprises a rotatable mechanical limb joint 32, a bending and stretching motor 33 of the mechanical limb joint 32 electrically connected with the integrated controller 6 is installed in four grooves formed in the side surface of the multifunctional central disc 31, the mechanical limb joint 32 is connected through the bending and stretching motor 33 to rotate within two hundred and seventy degrees, an automatic charging plate 322 and a pressure sensor 321 are installed on the surface of the mechanical limb joint 32, and the power supply device 9 supplies power for the automatic charging plate 322.
The manual main control console has the highest operation authority, can send an instruction to control the integrated controller 6 through the communicator 7, the communicator 7 is used for information transmission, and the communicator 7 is communicated with other mobile small unmanned aerial vehicle intelligent emission and recovery platforms.
The mobile small unmanned aerial vehicle intelligent launching and recovery platform is suitable for small fixed-wing unmanned aerial vehicles and multi-rotor unmanned aerial vehicles.
In this embodiment, the integrated controller 6 is a customized version integrated controller based on Modicon M251 of schneider electric company, the communicator 7 is an industrial-grade C20 dual-serial-port radio station, the environment controller 8 is an agility temperature control, the binocular camera 111 is Inter real sense D415D435, the laser radar 112 is an american OS-1-64 line, the range finder 312 is a tiry mini range finder, the pressure sensor 321 is a film pressure sensor probe + HX711 module, the automatic charging board 322 is an automatic charging board of Skysense company, the image recognition camera 41 adopts an ohm dragon image recognition sensor, the wind sensor 51 adopts a meteorological triple wind speed and wind direction transmitter sensor, the rain sensor 52 adopts a 12V rain drop module, and the temperature and humidity sensor 53 adopts a temperature and humidity transmitter sensor RS-WS-N01-2-of the family of Juglandaceae.
The intelligent launching and recovery method of the mobile small unmanned aerial vehicle intelligent launching and recovery platform comprises the following steps:
as shown in fig. 1 to 5, the size of the fixed wing drone 4 recovered and launched by the platform in this embodiment is larger than that of the smart car 1.
(1) Intelligent recycling
The intelligent vehicle 1 can be used as a vehicle for ground reconnaissance, the unmanned aerial vehicle 4 starts an automatic landing program of the unmanned aerial vehicle 4 when needing to land, the program automatically searches an idle mobile small unmanned aerial vehicle intelligent emission and recovery platform nearby in a communication link network, if a plurality of platforms nearby are searched, the unmanned aerial vehicle screens the closest-distance platform through a self flight control algorithm, after the screening is completed, a communication instruction is sent through a radio signal to establish a real-time communication local area network between the mobile small unmanned aerial vehicle and the mobile small unmanned aerial vehicle, the platform is opened at the moment and is ready to meet the landing of the unmanned aerial vehicle, the platform transmits the coordinates of the platform to the unmanned aerial vehicle flight control in real time, the platform starts to act, the upper cover rear side movable door 14 slides into the upper cover front side movable door 15, and the upper cover front side movable door 15 slides forwards to the limit position; when the electromagnetic relay lock 161 is powered off, two doors of the rolling curtain-shaped rear door 16 are respectively retracted into the left and right movable doors 13 under the driving of the gear motor 152, and after the two doors are completely retracted, the left and right movable doors 1 are driven by the lead screw motor 122 to move along the lead screw guide groove 121 towards the front door 11 of the vehicle until the front door 11 of the vehicle is reached, and at the moment, the lead screw 123 is retracted to the limit position; at the moment, the mechanical arm 2 and the mechanical arm 3 are exposed outside, a rotary mechanical arm 22 in the mechanical arm 2 in the platform is driven by a rotary motor 26 at the lower part to rotate for a certain angle to be vertical to the advancing direction of the vehicle body, a first section of mechanical arm 23 is driven by a rotary motor 26 at the side surface of the rotary mechanical arm 22 to rotate for a certain angle, the included angle between the axis of the first mechanical arm 23 and the vehicle body chassis is changed, the rotated angle is controlled to be optimal within the range of 30-60 degrees, the rotating motor 26 connected to the upper end of the first mechanical arm 23 rotates the second mechanical arm 24 by a certain angle, the axis of the second mechanical arm 24 is parallel to the axis of the first mechanical arm 23, the second mechanical arm 24 is used as an extension mechanical arm of the first mechanical arm 23, and the rotating motor 26 connected to the upper end of the second mechanical arm 24 rotates the corner mechanical arm 25 to the direction that the axis of the corner mechanical arm 25 is perpendicular to the vehicle body chassis of the intelligent vehicle 1; the rotating motor 26 on the corner mechanical arm 25 connected with the multifunctional central disk 31 adjusts the multifunctional central disk 31 to the optimal position, namely, the mechanical limb joint 32 and the unmanned aerial vehicle foot stool 42 are ensured to be kept in a vertical state, the mechanical arm 3 is opened and is positioned in the same plane with the multifunctional central disk 31, the image recognition identification point 311 is in a highlight state, the communicator 7 of the platform transmits the coordinate point of the installation center of the distance meter 312 to the flight control of the unmanned aerial vehicle through a radio signal, the unmanned aerial vehicle plans a flight path from the current position to the position of the coordinate point through the flight control carried by the unmanned aerial vehicle, the flight control adjusts the flight attitude of the unmanned aerial vehicle to the positioned coordinate point, the platform adjusts the self speed to be slightly lower than the landing speed of the unmanned aerial vehicle 4, the unmanned aerial vehicle 4 puts down the unmanned aerial vehicle foot stool 42 when being within one hundred meters away from the platform, the image recognition camera 41 at the front end, when the unmanned aerial vehicle 4 flies to the front end of the multifunctional central disc 31, the distance meter 312 on the multifunctional central disc 31 measures the distance between the multifunctional central disc 31 and the unmanned aerial vehicle foot stool 42, when the unmanned aerial vehicle foot stool 42 reaches the range capable of being grabbed by the manipulator 3, namely, the distance reaches the range of one third of the length of the mechanical limb joint 32, the mechanical limb joint 32 is driven by the flexion and extension motor 33 to rotate inwards until the unmanned aerial vehicle foot stool 42 is grabbed firmly, the grabbing process is that the mechanical limb joint 32 rotates along the installation central line of the flexion and extension motor 33, when the pressure detected by the pressure sensor 321 reaches a set value, the rotating motor 26 stops rotating, and the set pressure value is measured according to the complete fitting of the automatic charging plate 322 and the automatic charging plate receiving sheet 43 and the charging test; at this time, the integrated controller 6 conducts the automatic charging plate 322 and the automatic charging plate charging sheet 43 on the unmanned aerial vehicle foot stool 42 to charge the unmanned aerial vehicle. As shown in fig. 6, the unmanned aerial vehicle 4 folds and retracts the wings, the integrated controller 6 instructs the rotating motor 26 on the side of the rotating mechanical arm 22 to rotate the first section of mechanical arm 23 by a certain angle until the arc surface at the installation position of the rotating motor 26 connected to the upper end of the first section of mechanical arm contacts with the body chassis of the smart car, other mechanical arms are kept perpendicular to the body chassis of the smart car in the rotating process, then the rotating motor 26 connected to the upper end of the first section of mechanical arm 23 rotates the second section of mechanical arm 24 until the arc surface at the installation position of the rotating motor 26 connected to the upper end of the second section of mechanical arm contacts with the body chassis of the smart car, the corner mechanical arm 25 is kept perpendicular to the body chassis of the smart car 1 in the process, and at this time. The left and right movable doors 13 extend out along the previous path, the rolling blind type rear door 16 extends out from the inside of the left and right movable doors 13, and the electromagnetic relay lock 161 is electrified to seal the rolling blind type rear door 16 after the sealing electromagnet 161a enters the inside of the sealing groove 161 b; the upper cover front side moving door 15 moves back to the original position along the previous path, and the upper cover rear side moving door 14 extends out from the inside of the upper cover front side moving door 15 until the upper cover rear side moving door is attached to the side surface of the rolling curtain shaped rear door 16; the platform decides whether need start the inside constant temperature control module of environmental controller 8 to protect unmanned aerial vehicle 4's electronic components according to the model of the unmanned aerial vehicle 4 that descends.
(2) Intelligent launching
As shown in fig. 7, when the unmanned aerial vehicle receives a task and wants to take off, the platform is opened, the upper cover rear moving door 14 slides into the upper cover front moving door 15, and the upper cover front moving door 15 slides forward to the limit position under the driving of the gear motor 151; when the electromagnetic relay lock 161 is powered off, two doors of the rolling curtain-shaped rear door 16 are respectively retracted into the left and right movable doors 13 under the driving of the gear motor 152, and after the two doors are completely retracted, the left and right movable doors 1 are driven by the lead screw motor 122 to move along the lead screw guide groove 121 towards the front door 11 of the vehicle until the front door 11 of the vehicle is reached, and at the moment, the lead screw 123 is retracted to the limit position; the mechanical arm 2 extends out section by section according to a retracting path and is kept vertical to a vehicle body chassis, the rotating motor 26 on the second section of mechanical arm 24 rotates anticlockwise for a certain angle from the direction of a motor shaft along the axis of the second section of mechanical arm to enable the multifunctional central disc to rotate to a slightly inclined state from the direction vertical to the vehicle chassis, the angle is the takeoff angle of the unmanned aerial vehicle set by the system, the intelligent vehicle 1 is started and accelerated to reach 80% of the highest vehicle speed, the unmanned aerial vehicle is started and accelerated, the integrated controller 6 relieves the locking state of the mechanical limb sections 32 on the mechanical arm 3 to the unmanned aerial vehicle 4, a foot rest of the unmanned aerial vehicle is retracted, the unmanned aerial vehicle 4 flies away, the integrated controller 6 instructs the rotating motor 26 on the side surface of the rotating mechanical arm 22 to rotate the first section of mechanical arm 23 for a certain angle until the arc surface at the installation position of the rotating motor 26, and then the rotating motor 26 connected with the upper end of the first mechanical arm 23 rotates the second mechanical arm 24 to the position where the rotating motor 26 is installed on the upper end of the second mechanical arm to contact with the chassis of the intelligent vehicle, the door and the upper cover of the intelligent vehicle 1 return in sequence according to the previous path, and the unmanned aerial vehicle finishes taking off. And the platform continues to execute tasks according to the command of the manual main console.
Example 2
As shown in fig. 1 to 5 and fig. 8, the present embodiment is different from embodiment 1 in that objects to be recovered and launched are different, the size of the small-sized fixed-wing drone in the present embodiment is smaller than that of a platform to be landed, and the structural design of the platform and the principle and process of intelligent recovery and launch of the drone are the same as those of embodiment 1.
Example 3
As shown in fig. 1 to 5 and fig. 9 to 10, the present embodiment is different from embodiment 1 in that the object to be recovered and launched is different from that of embodiment 1, and is directed to intelligent recovery and launch of a multi-rotor drone. In terms of the structural design of the platform and the intelligent recovery principle and process of the unmanned aerial vehicle, the embodiment is completely the same as the embodiment 1; in unmanned aerial vehicle's intelligence launch in-process, with embodiment 1's difference, when many rotor unmanned aerial vehicle take off, as shown in fig. 10, the platform only needs to open upper cover rear side floating gate 14, and upper cover rear side floating gate 14 moves to the upper cover front side floating gate 15 in can realize many rotor unmanned aerial vehicle's the process of taking off, and upper cover rear side floating gate 14 moves back to the original position after unmanned aerial vehicle takes off, and all the other processes are the same with embodiment 1.
Claims (8)
1. The utility model provides a portable unmanned aerial vehicle intelligence transmission and recovery platform which characterized in that: the intelligent vehicle comprises an intelligent vehicle which is supported by four wheels and is provided with an opening cavity, the periphery of the intelligent vehicle consists of a fixed front door of the intelligent vehicle, left and right fixed doors, left and right movable doors and a rolling curtain-shaped rear door, an upper cover is a movable door, a binocular camera and a laser radar are installed on the outer side of the front door of the intelligent vehicle, and a meteorological acquisition device is installed on the top of the upper cover; the intelligent vehicle also comprises an automatic grabbing device, a comprehensive controller, a communicator, an environment controller and a power supply device which are arranged in the intelligent vehicle body and are controlled by a manual master control console; the automatic gripping device is arranged on a vehicle body chassis in the intelligent vehicle close to the rolling curtain-shaped back door and consists of a six-degree-of-freedom mechanical arm and a mechanical arm, the six-degree-of-freedom mechanical arm is fixed on the vehicle body chassis through a fixer, and the other end of the six-degree-of-freedom mechanical arm is connected with the mechanical arm; the integrated controller, the communicator, the environment controller and the power supply device are installed in the intelligent vehicle and close to a front door, the integrated controller controls the communicator, the environment controller and the power supply device through signal lines, the power supply device provides electric energy for the integrated controller, the communicator, the environment controller and the automatic charging plate through two power lines, and the weather acquisition device is electrically connected with the integrated controller.
2. The mobile unmanned aerial vehicle intelligent launching and recovery platform of claim 1, wherein: the intelligent vehicle front door and the left and right fixed doors are fixed on a vehicle body chassis, the inner sides of the left and right fixed doors are provided with a lead screw, a lead screw motor and a lead screw guide groove, the top end of the left and right fixed doors is provided with a gear groove, and the lead screw motor is electrically connected with the integrated controller; the rolling curtain type back door and the left and right moving doors are movable structures, a screw guide rail is arranged on the outer side of the left and right moving doors and is matched with a screw guide groove on the inner side of the left and right fixed doors, a screw groove is formed in the screw guide rail, the rolling curtain type back door is formed by two rolling curtain type structures which can freely stretch and retract, contact positions of the two parts of the rolling curtain type back door are sucked by an electromagnetic relay lock which is electrically connected with a comprehensive controller, and the interior of the left and right moving doors is hollow and is used for accommodating the rolling curtain type back door; the upper cover of the intelligent vehicle is divided into an upper cover front side movable door and an upper cover rear side movable door.
3. The mobile unmanned aerial vehicle intelligent launching and recovery platform of claim 1, wherein: the six-degree-of-freedom mechanical arm comprises four mechanical arms, the fixer is sequentially connected with the rotary mechanical arm, the first mechanical arm, the second mechanical arm and the corner mechanical arm through the rotary motor, and all the rotary motors are electrically connected with the comprehensive controller.
4. The mobile unmanned aerial vehicle intelligent launching and recovery platform of claim 1, wherein: the manipulator comprises multi-functional center disk and rotatable mechanical limb section, and multi-functional center disk is the device of rectangle, and the distancer is installed at the center, installs image recognition mark point all around the distancer, installs the mechanical limb section's that is connected with the integrated control ware electricity in four flutings that multi-functional center disk side was seted up and bends and stretch the motor, connects mechanical limb section through bending and stretching the motor and realizes its rotation at 0 ~ 270, and mechanical limb section surface mounting has automatic charging board, pressure sensor.
5. The mobile unmanned aerial vehicle intelligent launching and recovery platform of claim 1, wherein: the intelligent vehicle can also be used as a ground reconnaissance vehicle.
6. The mobile unmanned aerial vehicle intelligent launching and recovery platform of claim 1, wherein: the meteorological data acquisition device is fixedly arranged on a front side moving door of an upper cover of the intelligent vehicle and comprises a wind sensor, a rainwater sensor and a temperature and humidity sensor, and acquired environmental data are transmitted to an environmental controller of the platform.
7. The mobile unmanned aerial vehicle intelligent launching and recovery platform of claim 1, wherein: the unmanned aerial vehicle is suitable for small-size fixed wing unmanned aerial vehicles and many rotor unmanned aerial vehicles.
8. The intelligent launching and recovering method of the intelligent launching and recovering platform of the mobile small unmanned aerial vehicle as claimed in any one of claims 1 to 7 is as follows:
(1) intelligent recycling
When the unmanned aerial vehicle needs to land, the flight control starts an automatic landing program of the flight control system, a platform with the closest distance is screened through a flight control algorithm of the flight control system, a real-time communication local area network between the platform and the platform is established by sending a communication command through a radio signal, the platform transmits coordinates of the platform to the flight control of the unmanned aerial vehicle in real time, then the platform starts to act to expose a mechanical arm and a mechanical arm outside, a communicator of the platform transmits coordinate points to the flight control of the unmanned aerial vehicle through the radio signal, the unmanned aerial vehicle plans a track route from a current position to the positions of the coordinate points through the flight control carried by the unmanned aerial vehicle, the flight control adjusts the flight attitude of the unmanned aerial vehicle to the positioned coordinate points, the platform adjusts the speed of the platform to be slightly lower than the landing speed of the unmanned aerial vehicle, an image identification camera tracks image identification points on a multifunctional center panel, and when a foot rest of, then, the unmanned aerial vehicle is retracted into the intelligent vehicle;
(2) intelligent launching
When unmanned aerial vehicle received the task and will take off, the platform was opened, and the intelligent vehicle accelerates to 80% of self the highest speed of a motor vehicle, and unmanned aerial vehicle starts with higher speed, and comprehensive controller removes the locking state to unmanned aerial vehicle, and the unmanned aerial vehicle foot rest is packed up and is walked away, and inside the arm folded the indentation automobile body simultaneously with the manipulator, the intelligent door was closed in proper order.
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