CN113859566A - Vehicle-mounted unmanned aerial vehicle lifting leveling take-off and landing platform, device and method - Google Patents
Vehicle-mounted unmanned aerial vehicle lifting leveling take-off and landing platform, device and method Download PDFInfo
- Publication number
- CN113859566A CN113859566A CN202111273782.2A CN202111273782A CN113859566A CN 113859566 A CN113859566 A CN 113859566A CN 202111273782 A CN202111273782 A CN 202111273782A CN 113859566 A CN113859566 A CN 113859566A
- Authority
- CN
- China
- Prior art keywords
- platform
- unmanned aerial
- inclination angle
- lifting
- aerial vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 157
- 238000001514 detection method Methods 0.000 claims abstract description 61
- 230000033001 locomotion Effects 0.000 claims description 31
- 238000013519 translation Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 13
- 230000009467 reduction Effects 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 230000003028 elevating effect Effects 0.000 description 17
- 239000003638 chemical reducing agent Substances 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- 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
- B64F1/007—Helicopter portable landing pads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0658—Multiple scissor linkages horizontally arranged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0683—Scissor linkage plus tilting action
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Transportation (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a vehicle-mounted unmanned aerial vehicle lifting leveling take-off and landing platform, a device and a method, wherein the device comprises the following steps: the unmanned aerial vehicle loading device comprises a platform body and two groups of lifting mechanisms, wherein a bearing surface for stopping loading the unmanned aerial vehicle is formed on one side of the platform body, the lifting mechanisms are respectively arranged at two ends of the other side of the platform body, and the telescopic ends of the lifting mechanisms are connected with the platform body; the inclination angle detection device comprises an inclination angle detection sensor and a controller in signal connection with the inclination angle detection sensor, and the inclination angle detection sensor is used for detecting the inclination angle of the bearing surface of the platform body; the driving mechanisms are used for respectively controlling the two groups of lifting mechanisms to act, the driving mechanisms are in signal connection with the controller, the inclination angle detection device is arranged on the platform body and used for detecting the inclination angle of the bearing surface of the platform body, and the controller sends a control command to the driving mechanisms according to the detected inclination angle so as to control the lifting mechanisms to act and adjust the height of the platform, so that the airplane can normally take off and land.
Description
Technical Field
The invention belongs to the field of vehicle-mounted unmanned aerial vehicles, and particularly relates to a lifting, leveling and taking-off platform, a device and a method for a vehicle-mounted unmanned aerial vehicle.
Background
The unmanned aerial vehicle is an unmanned aircraft, and can be controlled by a ground operator through a remote controller or a program to execute a preset flight task. Many rotor unmanned aerial vehicle is an important branch of unmanned aerial vehicle, and it provides flight power through a plurality of screws of symmetry installation, and many rotor unmanned aerial vehicle relies on the rotational speed that changes each screw to reach stable equilibrium. Many rotor unmanned aerial vehicle can VTOL, its simple structure, and control technology is mature stable, has obtained the rapid development in civilian field in recent years.
The application of the multi-rotor unmanned aerial vehicle in the military field is gradually enriched due to the rapid progress of the technology, and the multi-rotor unmanned aerial vehicle can carry out tasks such as patrol and reconnaissance, ground warning monitoring, communication distance expansion and the like after carrying loads such as photoelectric pods, communication relays and the like. Different with civilian many rotor unmanned aerial vehicle, for military use many rotor unmanned aerial vehicle is because of the load weight of carrying on is big, and it is long to cruise time, and in addition environmental suitability and electromagnetic compatibility's the influence of factors such as factor, its weight, the volume of taking off are all great. With many rotor unmanned aerial vehicle deploys and constitute on-vehicle unmanned aerial vehicle system on carrier loader and can effectively improve unmanned aerial vehicle's mobility, unmanned aerial vehicle takes off and retrieves to realize that the automation can show the work load that reduces auxiliary work such as personnel's transport, expansion, personnel also can promote its security under complex environments such as battlefield through remote control operation in the car. The vehicle-mounted unmanned aerial vehicle system automatically folds and unfolds the unmanned aerial vehicle through a shelter installed at the rear part of the transport vehicle, the unmanned aerial vehicle is stored in the shelter in a driving state, a top cover of the shelter is opened during use, and the lifting platform rises to lift the unmanned aerial vehicle out of the shelter.
Under on-vehicle transportation condition, unmanned aerial vehicle platform of taking off and land is great with horizontal plane angle when the transport vechicle parks in the abrupt slope, and many rotor unmanned aerial vehicle can't take off and descend this moment, therefore lift platform need have the auto leveling function in the front and back direction. Many rotor unmanned aerial vehicle adopt the satellite navigation mode to fix a position at present mostly, and positioning error and flight control produce the error, and the repeated positioning accuracy is low when unmanned aerial vehicle descends, and for making unmanned aerial vehicle delivery shelter minimizing, lift platform need remove unmanned aerial vehicle to the platform center and lock in going on in smooth platform surface is automatic. In conclusion, it is necessary to design a vehicle-mounted unmanned aerial vehicle lifting leveling and taking-off platform.
Disclosure of Invention
The invention aims to provide a vehicle-mounted unmanned aerial vehicle lifting leveling and taking-off platform, a device and a method.
The invention is realized by the following technical scheme:
the utility model provides an on-vehicle unmanned aerial vehicle goes up and down to level take-off and landing platform, includes:
the unmanned aerial vehicle loading device comprises a platform body and two groups of lifting mechanisms, wherein a bearing surface for stopping loading the unmanned aerial vehicle is formed on one side of the platform body, the lifting mechanisms are respectively arranged at two ends of the other side of the platform body, and the telescopic ends of the lifting mechanisms are connected with the platform body;
the inclination angle detection device comprises an inclination angle detection sensor and a controller in signal connection with the inclination angle detection sensor, and the inclination angle detection sensor is used for detecting the inclination angle of the bearing surface of the platform body; and the driving mechanisms are used for respectively controlling the two groups of lifting mechanisms to act, and are in signal connection with the controller.
The automatic of unmanned aerial vehicle is carried out through the shelter at transport vechicle rear portion generally to current on-vehicle unmanned aerial vehicle system receive and releases, under on-vehicle transportation condition, when the transport vechicle is parked in the abrupt slope, there is great inclination in unmanned aerial vehicle platform and horizontal plane of taking off and land, many rotor unmanned aerial vehicles this moment are because the too big unable structure of taking off and descending of platform inclination, to this kind of condition, often need set up automatic leveling's structure, help leveling platform of taking off and land, make the aircraft can normally take off and land, this scheme is through setting up inclination detection device on the platform body, an inclination for testing platform body bearing surface, thereby the controller sends control command for actuating mechanism control elevating system action adjustment platform height according to the inclination that detects, make the aircraft can normally take off and land.
Further, including an inclination detection sensor at least, the platform body is square structure for the smooth surface that unmanned aerial vehicle's bearing surface made for adopting rust-resistant material stops carrying, confirms the direction when processing the platform main part for square structure inclination detection sensor of being convenient for detects, is favorable to improving the leveling precision, and the smooth platform body in surface is favorable to reducing the required power of unmanned aerial vehicle when removing on the platform.
Further, install rotatory hinged-support in the platform main part, elevating system's flexible end is equipped with fixed hinged-support, rotatory hinged-support forms the revolute pair with fixed hinged-support, elevating system's flexible end through fixed hinged-support with the platform body is articulated, elevating system is not direct contact like this with the platform main part, avoids rocking the detection precision that influences inclination detection sensor when elevating system moves.
Further, elevating system is for cutting fork elevating system, cut fork elevating system with the flexible end that the platform main part is connected divide into stiff end and removal end, cut fork elevating system's stiff end with the platform main part is articulated, is equipped with the leveling sliding plate in the platform main part, cuts fork elevating system's removal end and is connected with the leveling slider that sets up in the leveling sliding plate sliding tray, and two cut fork elevating system can synchronous motion also can not synchronous motion, can realize platform raising and lowering functions during synchronous motion, can realize platform leveling function during not synchronous motion.
Further, the inclination angle detection sensor and the platform body are arranged in parallel, and the platform body is of a rigid structure, so that when the platform body inclines, the inclination angle detection sensor and the platform body are consistent in inclination direction, and the detected inclination angle is the inclination angle of the platform body.
Furthermore, the driving mechanism comprises an electric cylinder, a servo motor and a translation sliding plate, the servo motor is installed on the electric cylinder, the translation sliding plate is installed at the extending position of the electric cylinder, the other end, opposite to the telescopic end, of the scissor type lifting mechanism is connected with a translation sliding block installed in a sliding groove of the translation sliding plate, and the electric cylinder extends forwards under the driving of the servo motor to push the scissor type lifting mechanism to move up and down.
In addition, the invention provides a vehicle-mounted unmanned aerial vehicle lifting leveling taking-off and landing method, which is applied to the vehicle-mounted unmanned aerial vehicle lifting leveling taking-off and landing platform, and the specific process is as follows:
the controller receives the inclination angle of the bearing surface of the platform body detected by the inclination angle detection sensor in real time;
the controller judges according to the detected inclination angle, generates a control instruction according to the judgment result,
the controller sends a control instruction to the driving mechanism; the control driving mechanism respectively drives the two groups of lifting mechanisms to do lifting motion towards the direction vertical to the plane of the platform body.
The controller judges in real time according to the inclination angle, so that the lifting mechanism is controlled to adjust the inclination angle of the platform in real time, the leveling effect is good, the processing speed is high, and the leveling efficiency is improved.
Further, the inclination angle detection sensor is arranged in parallel with the platform body, and is used for detecting inclination angles in the X direction and the Y direction of the platform body, wherein the X direction is the direction where the width of the vehicle is located, and the Y direction is the direction parallel to the running direction of the vehicle.
Further, the controller continuously judges whether the inclination angle detected in the X direction exceeds an angle threshold;
if the angle does not exceed the angle threshold, the controller continuously judges whether the inclination angle detected in the Y direction exceeds the lower limit of the threshold,
if the inclination angle detected in the Y direction is smaller than the lower threshold limit, the controller continuously judges whether the inclination angle detected in the Y direction is within a threshold interval of the upper threshold limit and the lower threshold limit, if so, the controller sends a control instruction to control the lifting mechanism to perform lifting movement in a direction perpendicular to the plane where the platform body is located so as to level the inclination angle until the inclination angle detected in the Y direction is smaller than the lower threshold limit, and the leveling in the Y direction is completed.
A vehicle-mounted unmanned aerial vehicle lifting leveling and landing device comprises the vehicle-mounted unmanned aerial vehicle lifting leveling and landing platform, and further comprises two front and rear horizontal pushing mechanisms, two left and right horizontal pushing mechanisms and at least three speed reduction driving devices which are arranged above a platform body in an axisymmetric mode, wherein the two front and rear horizontal pushing mechanisms and the left and right horizontal pushing mechanisms form a square area for the unmanned aerial vehicle to take off and land, each speed reduction driving device is respectively used for driving the two left and right horizontal pushing mechanisms and/or the two left and right horizontal pushing mechanisms to synchronously move towards the center of the formed square area or move in opposite directions, the two front and rear horizontal pushing mechanisms and the left and right horizontal pushing mechanisms can only do parallel motion in respective directions, the finally formed square area is positioned at the center of the platform body, and under the condition that the platform body and a horizontal plane are leveled, the unmanned aerial vehicle is favorably moved to the center of the platform body and locked, helping to minimize the size of the drone's carrier square.
Compared with the prior art, the invention has the following advantages and beneficial effects:
according to the invention, the inclination angle of the bearing surface of the platform body is detected by the inclination angle detection device, the controller sends a control command to the driving mechanism according to the detected inclination angle so as to control the lifting mechanism to act and adjust the height of the platform, so that the airplane can normally take off and land, the inclination angle detection sensor can be arranged in parallel with the platform body, the platform body can also be processed into a square structure, the bearing surface of the unmanned aerial vehicle is set into a smooth surface made of an antirust material, on one hand, the direction can be conveniently determined when the inclination angle detection sensor detects the plane, the leveling precision can be improved, and on the other hand, the platform body with the smooth surface can be beneficial to reducing the power required by the unmanned aerial vehicle when the unmanned aerial vehicle moves on the platform.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that for those skilled in the art, other related drawings can be obtained from these drawings without inventive effort. In the drawings:
FIG. 1 is a schematic view of the overall structure of a leveling and landing platform provided in embodiment 1 of the present invention;
FIG. 2 is a right side view of the overall structure of the leveling and landing platform provided in embodiment 1 of the present invention;
fig. 3 is a schematic structural view of a lifting mechanism provided in embodiment 1 of the present invention;
FIG. 4 is a leveling method provided in embodiment 2 of the present invention;
fig. 5 is a top view of a lifting leveling lifting device structure provided in embodiment 3 of the present invention;
fig. 6 is a bottom view of the structure of the lifting leveling lifting device provided in embodiment 3 of the present invention;
fig. 7 is a structural sectional view of the landing gear of the unmanned aerial vehicle provided in embodiment 3 of the present invention when the landing gear is fixed to the platform main body.
Reference numbers and corresponding part names in the drawings:
1-platform body, 11-rotary hinged support, 12-leveling sliding plate, 13-leveling sliding block, 14-hinge pin, 2-lifting mechanism, 21-fixed hinged support, 22-fixed end, 23-moving end, 24-sliding end, 25-connecting end, 3-inclination angle detection sensor, 4-driving mechanism, 41-electric cylinder, 42-translation sliding plate, 43-electric cylinder support, 5-front and back horizontal pushing mechanism, 51-front and back pushing plate, 52-transmission shaft, 53-guide shaft, 54-guide shaft support, 55-coupler, 56-rack, 57-gear, 6-left and right horizontal pushing mechanism, 61-lead screw, 62-slide block, 63-guide rail, 64-guide rail support, 65-left and right pushing plate, 66-fixing plate, 67-spring, 68-pin screw, 7-reduction drive device, 71-reducer, 72-servo motor, 8-mounting plate, 81-hinged support, 9-unmanned plane, 91-unmanned plane landing gear cross bar.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "upper", "lower", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the scope of the present invention.
Example 1
As shown in fig. 1, fig. 2 and fig. 3, the vehicle-mounted unmanned aerial vehicle lifting leveling and taking-off platform comprises: the lifting platform comprises a platform body 1 and two groups of lifting mechanisms 2, a bearing surface for stopping the unmanned aerial vehicle 9 is formed on one side of the platform body 1, the lifting mechanisms 2 are respectively arranged at two ends of the other side of the platform body 1, and the telescopic ends of the lifting mechanisms 2 are connected with the platform body 1;
the inclination angle detection device comprises an inclination angle detection sensor 3 and a controller in signal connection with the inclination angle detection sensor 3, wherein the inclination angle detection sensor 3 is used for detecting the inclination angle of the bearing surface of the platform body 1; and the driving mechanism 4 is used for respectively controlling the two groups of lifting mechanisms 2 to act, and the driving mechanism 4 is in signal connection with the controller.
Under on-vehicle transportation condition, when the transport vechicle was parked in the abrupt slope, because there is great inclination in 9 take off and land platforms of unmanned aerial vehicle and horizontal plane, many rotor unmanned aerial vehicle 9 this moment can't take off and descend because the platform inclination is too big, to this kind of condition, often need set up the structure of automatic leveling, help leveling take off and land platform, make the aircraft can normally take off and descend.
Generally speaking, the tilt angle sensor is used for detecting the tilt angle of the bearing surface of the platform body 1, therefore, at least one tilt angle detection sensor 3 is needed to be arranged, the controller can send out a corresponding control instruction according to the tilt angle detected by the tilt angle sensor to control the lifting mechanism 2 to adjust, in order to improve the leveling precision and the work leveling efficiency, the embodiment provides one tilt angle detection sensor 3, the bearing surface for stopping the unmanned aerial vehicle 9 is a smooth surface made of an antirust material, the platform body 1 is of a square structure, the purpose is to process the platform main body into the square structure so as to determine the direction when the tilt angle detection sensor 3 detects, which is beneficial to improving the leveling precision, the platform body 1 with the smooth surface is beneficial to reducing the power required when the unmanned aerial vehicle 9 moves on the platform, improving the work efficiency, and in order to better detect the tilt angle of the bearing surface of the platform body 1, the inclination angle detection sensor 3 and the platform body 1 can be arranged in parallel, and because the platform body 1 is of a rigid structure, when the platform body is inclined, the inclination direction of the inclination angle detection sensor 3 is consistent with that of the platform body 1, the detected inclination angle is the inclination angle of the platform body 1, the detection error is reduced, and the leveling precision is improved.
Specifically, the lifting mechanisms 2 are respectively arranged at two ends of the other side of the platform body 1, wherein the two ends are two ends of the platform body 1 perpendicular to the vehicle running direction, and the telescopic ends of the lifting mechanisms 2 are connected with the platform body 1, so that the lifting mechanisms 2 can move under the driving of the driving mechanism 4, the moving direction is only up and down along the direction perpendicular to the platform body, and the connecting mode can be a fixed connecting mode or a movable connecting mode such as a hinged connection, a pin connection, a sliding connection, a gear 57 connection and the like; in order to improve the leveling precision of the platform main body, the telescopic end of the lifting mechanism 2 is hinged to the platform body 1, as shown in fig. 2, a rotary hinged support 11 is mounted on the platform main body, a fixed hinged support 21 is arranged at the telescopic end of the lifting mechanism 2, the rotary hinged support 11 and the fixed hinged support 21 form a rotary pair through a hinge pin 14, and the telescopic end of the lifting mechanism 2 is hinged to the platform body 1 through the fixed hinged support 21, so that the lifting mechanism 2 is not in direct contact when being connected with the platform main body, and the detection precision of the inclination angle detection sensor 3 is prevented from being influenced by shaking when the lifting mechanism 2 acts.
In addition, the lifting mechanism 2 can be in various forms as long as it is satisfied that the lifting mechanism 2 can move under the driving of the driving mechanism 4, and the movement direction is up and down along the direction perpendicular to the platform main body, such as a telescopic hydraulic rod, a folding rod, etc., in consideration of the adjustable height range and the telescopic stroke of the lifting mechanism 2, as shown in fig. 3, the lifting mechanism 2 of this embodiment preferably uses a scissor-type lifting mechanism, the scissor-type lifting mechanism has four connecting ends 25, wherein, the two ends connected with the platform main body are telescopic ends, specifically, a fixed end 22 and a movable end 23, the fixed end 22 of the scissor-type lifting mechanism is hinged with the platform main body, specifically, a rotating hinged support 11 is mounted on the platform main body, the fixed end 22 of the scissor-type lifting mechanism is provided with a fixed support 21, the rotating hinged support 11 and the fixed hinged support 21 form a rotating pair, the scissor type lifting mechanism is hinged with the platform body 1 through a fixed hinged support 21, correspondingly, a leveling sliding plate 12 is arranged on the platform main body for a moving end 23, the moving end 23 of the scissor type lifting mechanism is connected with a leveling sliding block 13 arranged in a sliding groove of the leveling sliding plate 12, the telescopic stroke of the scissor type lifting mechanism is long, and the adjustable range is wider.
The number of the driving mechanisms 4 can be one or two, two lifting mechanisms 2 can be controlled by arranging one driving mechanism 4, two lifting mechanisms 2 can be controlled by arranging two driving mechanisms 4, respectively, additional judgment is needed when one driving mechanism 4 is arranged to determine which driving mechanism 4 is controlled, in order to improve the processing speed of the controller and reduce the processing process of the controller, thereby improving the working efficiency of leveling, preferably, as shown in fig. 3, each scissor type lifting mechanism is correspondingly provided with one driving mechanism 4, each driving mechanism 4 comprises an electric cylinder 41, a servo motor arranged on the electric cylinder 41 and a translation sliding plate 42, the translation sliding plate 42 is arranged at the outlet of the electric cylinder 41, the other end of the scissor type lifting mechanism relative to the telescopic end also corresponds to two ends, one sliding end 24 is a connecting end 25, the sliding end 24 is connected with a translation sliding block 62 arranged in a sliding chute of the translation sliding plate 42, when the connecting end 25 is arranged on the vehicle-mounted shelter, the connecting end is connected with the vehicle-mounted shelter, the electric cylinder 41 extends forwards under the driving of the servo motor to push the scissor type lifting mechanism to do lifting motion, the scissor type lifting mechanism slides up and down synchronously to realize the lifting function, in this way, the fixed end 22 and the connecting end 25 on one side of the scissor type lifting mechanism are in a movable connection but are in a fixed state, the sliding end 24 and the moving end 23 on the other side slide left and right synchronously, the moving end 23 drives the fixed end 22 to move, the parts needing to be controlled are reduced, only one side motion needs to be controlled, on one hand, in the leveling process, the lifting mechanism 2 and the main body platform are more stable, the leveling process is not influenced, on the other hand, the working efficiency can be improved, and the two driving mechanisms 4 can enable the two scissor type lifting mechanisms arranged at the two ends of the platform main body to do synchronous motion or asynchronous motion, the platform lifting function can be realized during synchronous motion, and the platform leveling function can be realized during asynchronous motion.
In the specific implementation of the present embodiment, one of the implementation manners is: firstly, the lifting platform of the embodiment is required to be installed in a square cabin at the tail part of a carrier vehicle, during installation, a mounting plate 8 is arranged below the lifting platform, the mounting plate 8 is installed in the vehicle-mounted square cabin, a hinged support 81 is further arranged on the mounting plate 8, a scissor-type lifting mechanism is provided with two connecting ends 25 corresponding to the other end of a telescopic end, one connecting end 25 is hinged with the hinged support 81, the other connecting end 25 is connected with a translation sliding block 62 installed in a sliding chute of a translation sliding plate 42, and an electric cylinder 41 of a driving device is fixed on the mounting plate 8 through an electric cylinder support 43 installed on the mounting plate 8;
when the unmanned aerial vehicle 9 takes off, the scissor type lifting mechanism rises to lift the unmanned aerial vehicle 9 out of the square cabin, the controller receives the inclination angle information of the platform monitored by the inclination angle detection sensor 3 in real time, the controller processes the inclination angle information and then sends a control instruction to the driving mechanism 4, and the electric cylinder 41 slides on the translation sliding plate 42 under the driving of the servo motor, so that the scissor type lifting mechanism is pushed to move to realize leveling;
when unmanned aerial vehicle 9 descends, the controller receives the inclination angle information of the platform of inclination detection sensor 3 real-time supervision in real time, sends control command for actuating mechanism 4 according to inclination angle information, and electronic jar 41 slides along the vehicle direction of travel in translation sliding plate 42 under the servo motor drive to promote to cut fork elevating system and move to 1 level of platform body, unmanned aerial vehicle 9 descends on the platform.
Example 2
The embodiment provides a vehicle-mounted unmanned aerial vehicle lifting leveling taking-off and landing method, which is applied to the vehicle-mounted unmanned aerial vehicle lifting leveling taking-off and landing platform in the embodiment 1, and the specific process is as follows:
the controller receives the inclination angle of the bearing surface of the platform body 1 detected by the inclination angle detection sensor 3 in real time;
the controller judges according to the detected inclination angle, generates a control instruction according to the judgment result,
the controller sends a control instruction to the driving mechanism 4; the control driving mechanism 4 respectively drives the two groups of lifting mechanisms 2 to do lifting movement in the direction vertical to the plane of the platform body 1.
In the processor of the controller, there are various ways to judge the detected tilt angle, and specifically, the determination is performed according to the number, type and installation position of the arranged sensors, for example, when there are multiple groups of tilt angle detection sensors 3, the leveling is realized by comparing the data returned by the multiple groups of tilt angle detection sensors 3 until the data is within the standard error, the tilt angle detection sensors 3 also have various types, the detection precision of each sensor is different, and the installation position of the tilt angle detection sensor 3 also affects the detection precision and effect, therefore, as long as the tilt angle of the platform body 1 can be detected, preferably, in this embodiment, for better leveling, the tilt angle detection sensor 3 is arranged in parallel with the platform body 1, because the platform body 1 is arranged in parallel with the ground, when the tilt occurs, the tilt direction of the tilt angle detection sensor 3 is consistent with the platform body 1, the detected inclination angle is the inclination angle of the platform body 1, and the preferred inclination angle detection sensor 3 of the present embodiment can be used for detecting the inclination angles of the platform body 1 in the X direction and the Y direction, wherein the X direction is the direction in which the vehicle width is located, the Y direction is the direction parallel to the vehicle running, and the X direction is perpendicular to the Y direction.
Because the present road surface condition is better, the automobile body is about the inclination of X direction not big promptly, when the platform sets up on the carrier loader, if the angle of slope about is in error range, when having no influence to many rotor unmanned aerial vehicle 9's takeoff and landing, only need consider the condition when the transport vechicle is parked in the abrupt slope, to the regulation of Y direction, then two sets of elevating system 2 can set to the direction that is on a parallel with vehicle width be the X direction, realize the regulation to the Y direction when asynchronous motion, consequently, in following embodiment mode with the leveling process of regulation slope at Y direction not at ordinary times, as shown in figure 4, specifically include the step:
s1, the controller continuously judges whether the inclination angle detected in the X direction exceeds an angle threshold;
s2, if the angle does not exceed the angle threshold, the controller continuously judges whether the inclination angle detected in the Y direction exceeds the lower limit of the threshold,
s3, if the inclination angle detected in the Y direction is not in the threshold interval of the upper threshold and the lower threshold, the controller continuously judges whether the inclination angle detected in the Y direction is in the threshold interval of the upper threshold and the lower threshold, if the inclination angle detected in the Y direction is in the threshold interval, the controller sends out a control instruction to control the lifting mechanism 2 to do lifting motion in the direction vertical to the plane where the platform body 1 is located to level until the inclination angle detected in the Y direction is smaller than the lower threshold, and the leveling in the Y direction is completed, wherein the leveling is in an error allowable range and is not completely leveled to form an included angle of 0 degree with the horizontal plane.
Specifically, since the types of the used tilt angle detection sensors 3 are not the same, the leveling accuracy is also different, and the upper limit and the lower limit of the set threshold are also different, and only the leveling process for the Y direction is described in this embodiment, for the X direction, it is only necessary that the angle threshold is set within the error range in which the multi-rotor drone 9 can be automatically adjusted, and in addition, the specific adjustable angle range is related to the setting of the lifting mechanism 2, and the longer the stroke of the lifting mechanism 2 is, the wider the adjustable angle range is, for example, the tilt angle detection sensor 3 adopted in this embodiment detects the tilt angle of the platform body 1 in the X, Y two directions in real time and transmits data to the controller at the transmission frequency of 50Hz, and the detection accuracy of the sensor adopted in this embodiment is 0.1 °. Then the angle threshold value that sets up in this embodiment is 5, for the scope that many rotor unmanned aerial vehicle 9 can be adjusted, the threshold value upper limit sets up to 12, according to the stroke length decision of scissor lift mechanism, and the threshold value lower limit sets up to 3, in addition, in a specific implementation of this embodiment, because only adjust the Y direction, consequently, inclination in the X direction surpasss the angle threshold value and can not realize the leveling or surpass the threshold value upper limit, scissor lift mechanism's lift stroke is not enough, need the controller to send tip information to vehicle-mounted unmanned aerial vehicle 9 system on the carrier loader, the suggestion staff takes off or descends instead, this kind of feedback can help the staff better select to the parking area ground, degree of automation is high, this kind of implementation specific process is:
when the inclination angle in the X direction exceeds +/-5 degrees, the controller sends prompt information to the vehicle-mounted unmanned aerial vehicle 9 system to prompt an operator that the unmanned aerial vehicle 9 cannot take off or land in the state and needs to replace places;
when the inclination angle in the X direction is less than +/-5 degrees, the Y direction can be leveled, whether the inclination in the Y direction is greater than +/-12 degrees or not is continuously judged, if so, the controller sends prompt information to the vehicle-mounted unmanned aerial vehicle 9 system to prompt an operator that the unmanned aerial vehicle 9 cannot take off or land in the state, and the steep slope angle is too large;
if the inclination angle detection sensor 3 detects that the inclination angle of the platform body 1 in the X direction is less than +/-5 degrees and the inclination angle in the Y direction is less than +/-3 degrees, the controller sends prompt information to the vehicle-mounted unmanned aerial vehicle 9 system to prompt an operator that the unmanned aerial vehicle 9 can take off or land in the state without leveling;
if the inclination angle detection sensor 3 detects that the inclination angle of the platform body 1 in the X direction is less than +/-5 degrees and the inclination angle in the Y direction is between +/-3 degrees and +/-12 degrees, the controller sends prompt information to the vehicle-mounted unmanned aerial vehicle 9 system to prompt an operator that the unmanned aerial vehicle 9 cannot take off or land in the state; simultaneously the controller sends the control command of leveling to actuating mechanism 4, and actuating mechanism 4 drives one of them scissors fork elevating system and carries out the lift action, and the back is accomplished in the lift action, until detecting that platform body 1 is less than + -5 in the X direction slope and when Y direction inclination is less than + -3 when inclination detecting sensor 3, accomplishes the leveling, and the controller sends tip information to on-vehicle unmanned aerial vehicle 9 system this moment, and unmanned aerial vehicle 9 can take off or land under the suggestion operating personnel this state.
Example 3
As shown in fig. 5, 6, and 7, this embodiment provides a vehicle-mounted unmanned aerial vehicle lifting leveling and landing apparatus, including the vehicle-mounted unmanned aerial vehicle lifting leveling and landing platform of embodiment 1, and further including two front and rear horizontal pushing mechanisms 5, two left and right horizontal pushing mechanisms 6, and at least three deceleration driving devices 7, which are all installed above the platform body 1 in an axisymmetric manner, the two front and rear horizontal pushing mechanisms 5, the left and right horizontal pushing mechanisms 6 after installation form a square area for the unmanned aerial vehicle 9 to take off and land, each deceleration driving device 7 is respectively used for driving the two left and right horizontal pushing mechanisms 6 and/or the two left and right horizontal pushing mechanisms 6 to synchronously move in opposite directions or move in opposite directions toward the center of the formed square area, preferably, the deceleration driving devices 7 in this embodiment are three, each deceleration driving device 7 includes a speed reducer 71 and a servo motor 72 which are electrically connected, the speed reducer 71 takes a form of inputting two outputs, wherein, two front and back flat push mechanisms 5 adopt a speed reduction drive device 7 respectively, and two left and right flat push mechanisms 6 adopt a speed reduction drive device 7, and the area that vacates a square in the middle of the platform is used for unmanned aerial vehicle 9 to take off and land when front and back flat push mechanisms 5 and left and right flat push mechanisms 6 all move to the platform outside, and the size is 1500 mm.
Specifically, as shown in fig. 5, each of the front and rear horizontal pushing mechanisms 5 includes a front and rear pushing plate 51, a transmission shaft 52, two guide shafts 53 symmetrically disposed at both ends of the transmission shaft 52, and two guide shaft holders 54 symmetrically disposed at both ends of the front and rear pushing plate 51, a speed reducer 71 is fixed at one end of the front and rear pushing plate 51, the transmission shaft 52 is provided with a coupling 55, the two guide shaft holders 54 are mounted on the platform body 1, the guide shafts 53 are mounted on the guide shaft holders 54, the front and rear pushing plates 51 are mounted on the guide shafts 53, both ends of the transmission shaft 52 are respectively provided with a gear 57 and a rack 56 engaged with the gear 57, the two racks 56 are both parallel to the guide shafts 53 and mounted on the elevating platform, the gear 57 at one end of the transmission shaft 52 provided with the speed reducer 71 is mounted on the speed reducer 71, one speed reduction driving device 7 is used for each of the front and rear horizontal pushing mechanisms 5, two output shafts of the speed reducer 71 are respectively connected to the transmission shaft 52 and the guide shafts 53, the two gears 57 and the racks 56 are driven to synchronously move so as to push the front and the rear push plates 51 to synchronously move towards each other or reversely.
Referring to fig. 5 and 6, each left and right horizontal pushing mechanism 6 includes a screw 61, a slider 62, a guide rail support base 64, a guide rail 63, a left and right pushing plate 65, and a fixing plate 66, the guide rail support base 64 is installed at one side of the platform body 1 where the lifting mechanism 2 is installed for fixing the screw 61 and the guide rail 63, the screw 61 and the guide rail 63 are installed on the guide rail support base 64 to form a linear motion mechanism with the slider 62, the screws 61 of the two left and right horizontal pushing mechanisms 6 are respectively a left screw 61 and a right screw 61, in order not to affect the landing of the unmanned aerial vehicle 9, the deceleration driving devices 7 corresponding to the left and right horizontal pushing mechanisms 6 are installed at the back of the bearing surface, the servo motor 72 drives the reducer 71 to move to drive each linear motion mechanism to be converted into horizontal motion of the slider 62 on the screw and the guide rail 63, and two output shafts of the reducer 71 are respectively connected with the two screws 61 of the two left and right horizontal pushing mechanisms 6, two linear motion mechanisms are simultaneously driven by a speed reducer 71 to synchronously move towards each other or move reversely. When unmanned aerial vehicle descends, unmanned aerial vehicle's fixed knot constructs as shown in fig. 7, about push pedal 65 install on slider 62, push pedal 65 about through round pin screw 68 is installed to fixed plate 66 one face, another face is the wedge face, fixed plate 66 fixes unmanned aerial vehicle undercarriage horizontal pole 91 through the wedge face, fixed plate 66 all stretches out the bearing surface of platform main part with about push pedal 65, still install spring 67 between fixed plate 66 and about push pedal 65 and be used for reducing the impact in the motion process.
The bearing surface of the platform body 1 is provided with two front and rear horizontal pushing mechanisms 5 and two left and right horizontal pushing mechanisms 6, the unmanned aerial vehicle 9 can be automatically pushed to the center of the platform body 1 and fixed after falling, the front and rear horizontal pushing mechanisms 5 are supported by a guide shaft support 54, a guide shaft 53 is used for guiding, a servo motor, a speed reducer 71 and a rack 56 of a gear 57 are used as power, one gear 57 is directly arranged on the speed reducer 71, the other gear 57 is connected with the speed reducer 71 after being transmitted by a shaft, a coupler 55 and the like, the rack 56 of the two gears 57 synchronously move to enable the front and rear horizontal pushing action to be balanced and stable, the speed reduction driving mechanisms 4 of the two left and right horizontal pushing mechanisms 6 are arranged below the platform, the slide block 62 drives a left and right push plate 65 and a fixed plate 66 on the bearing surface of the platform body 1 to move to push the unmanned aerial vehicle 9 to the center of the left and right directions of the platform through the servo motor, the speed reducer 71, a lead screw 61, a slide block 62 and the like as driving device, the fixed plate 66 fixes the cross bar of the landing gear of the unmanned aerial vehicle 9 on the platform through a wedge-shaped mechanism, and a spring 67 is installed between the fixed plate 66 and the left and right push plates 65 for reducing the impact in the movement process, wherein the left and right, front and back are relative concepts, so that the representation in the text is facilitated, and the direction is limited accordingly.
The workflow of this embodiment:
when the unmanned aerial vehicle 9 takes off, the scissor lift mechanism rises to lift the unmanned aerial vehicle 9 out of the square cabin, the controller receives the inclination angle information of the platform monitored by the inclination angle detection sensor 3 in real time, the controller sends a control instruction to the driving mechanism 4 after processing the inclination angle information, the electric cylinder 41 slides on the translation sliding plate 42 under the driving of the servo motor, so that the scissor lift mechanism is pushed to move to realize leveling, after leveling, the left and right side flat push mechanisms 6 move outwards to unlock the unmanned aerial vehicle 9, meanwhile, the front and back flat push mechanisms 5 also move outwards, and the unmanned aerial vehicle 9 is prepared to take off after preparation work is finished.
The controller receives the inclination angle information of the platform of inclination detection sensor 3 real-time supervision in real time, send control command for actuating mechanism 4 according to inclination angle information, electronic jar 41 slides along the vehicle direction of travel in translation sliding plate 42 under the servo motor drive, thereby promote the motion of scissors formula elevating system to platform body 1 level, platform body 1 is behind the leveling, 5 simultaneous movement of horizontal pushing mechanism pass unmanned aerial vehicle 9 to the front and back centre line of platform around two, then horizontal pushing mechanism 6 simultaneous movement passes unmanned aerial vehicle 9 to the platform center and fixes through the wedge face of fixed plate 66 about two, last two scissors formula elevating system descend simultaneously and retrieve unmanned aerial vehicle 9 to the shelter in.
The above-mentioned embodiments are only examples of the present invention, and should not be construed as limiting the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides an on-vehicle unmanned aerial vehicle goes up and down to level take off and land platform which characterized in that includes: the lifting platform comprises a platform body (1) and two groups of lifting mechanisms (2), a bearing surface for stopping and loading the unmanned aerial vehicle (9) is formed on one side of the platform body (1), the lifting mechanisms (2) are respectively arranged at two ends of the other side of the platform body (1), and the telescopic ends of the lifting mechanisms (2) are connected with the platform body (1);
the inclination angle detection device comprises an inclination angle detection sensor (3) and a controller in signal connection with the inclination angle detection sensor (3), wherein the inclination angle detection sensor (3) is used for detecting the inclination angle of the bearing surface of the platform body (1); and the driving mechanism (4) is used for respectively controlling the two groups of lifting mechanisms (2) to act, and the driving mechanism (4) is in signal connection with the controller.
2. The vehicle-mounted unmanned aerial vehicle lifting leveling take-off and landing platform of claim 1, characterized by comprising at least one inclination angle detection sensor (3), wherein the platform body (1) is of a square structure, and a bearing surface for stopping the unmanned aerial vehicle (9) is a smooth surface made of an antirust material.
3. The vehicle-mounted unmanned aerial vehicle lifting leveling and taking-off platform is characterized in that a rotary hinged support (11) is mounted on a platform main body, a fixed hinged support (21) is arranged at the telescopic end of the lifting mechanism (2), the rotary hinged support (11) and the fixed hinged support (21) form a rotating pair, and the telescopic end of the lifting mechanism (2) is hinged to the platform body (1) through the fixed hinged support (21).
4. The vehicle-mounted unmanned aerial vehicle lifting leveling lifting platform according to claim 1, wherein the lifting mechanism (2) is a scissor type lifting mechanism, the telescopic end of the scissor type lifting mechanism connected with the platform main body is divided into a fixed end (22) and a movable end (23), the fixed end (22) of the scissor type lifting mechanism is hinged to the platform main body, a leveling sliding plate (12) is arranged on the platform main body, and the movable end (23) of the scissor type lifting mechanism is connected with a leveling sliding block (13) arranged in a sliding groove of the leveling sliding plate (12).
5. The vehicle-mounted unmanned aerial vehicle lifting leveling and taking-off platform as claimed in claim 1 or 4, wherein the inclination angle detection sensor (3) is arranged in parallel with the platform body (1).
6. The vehicle-mounted unmanned aerial vehicle lifting leveling and taking-off platform as claimed in claim 4, wherein the driving mechanism (4) comprises an electric cylinder (41), a servo motor installed on the electric cylinder (41), and a translation sliding plate (42), the translation sliding plate (42) is installed at an extending position of the electric cylinder (41), the other end of the scissor type lifting mechanism, which is opposite to the telescopic end, is connected with a translation sliding block (62) installed in a sliding groove of the translation sliding plate (42), and the electric cylinder (41) extends forwards under the driving of the servo motor to push the scissor type lifting mechanism to do lifting motion.
7. A vehicle-mounted unmanned aerial vehicle lifting leveling taking off and landing method is applied to the vehicle-mounted unmanned aerial vehicle lifting leveling taking off and landing platform according to any one of claims 1 to 6, and the specific process is as follows:
the controller receives the inclination angle of the bearing surface of the platform body detected by the inclination angle detection sensor in real time;
the controller judges according to the detected inclination angle, generates a control instruction according to the judgment result,
the controller sends a control instruction to the driving mechanism; the control driving mechanism respectively drives the two groups of lifting mechanisms to do lifting motion towards the direction vertical to the plane of the platform body.
8. The vehicle-mounted unmanned aerial vehicle lifting, leveling, taking-off and landing method according to claim 7, wherein the inclination angle detection sensor is arranged in parallel with the platform body, and is used for detecting inclination angles of the platform body in an X direction and a Y direction, wherein the X direction is a direction in which the width of the vehicle is located, and the Y direction is a direction parallel to the running direction of the vehicle.
9. The vehicle-mounted unmanned aerial vehicle lifting leveling taking-off and landing method according to claim 8,
the controller continuously judges whether the inclination angle detected in the X direction exceeds an angle threshold value;
if the angle does not exceed the angle threshold, the controller continuously judges whether the inclination angle detected in the Y direction exceeds the lower limit of the threshold,
if the inclination angle detected in the Y direction is smaller than the lower threshold limit, the controller continuously judges whether the inclination angle detected in the Y direction is within a threshold interval of the upper threshold limit and the lower threshold limit, if so, the controller sends a control instruction to control the lifting mechanism to perform lifting movement in a direction perpendicular to the plane where the platform body is located so as to level the inclination angle until the inclination angle detected in the Y direction is smaller than the lower threshold limit, and the leveling in the Y direction is completed.
10. The utility model provides a vehicle-mounted unmanned aerial vehicle goes up and down to level and take off and land device, characterized in that, include according to any one of claims 1-6 vehicle-mounted unmanned aerial vehicle goes up and down to level and take off and land platform, still include two front and back horizontal push mechanisms (5), two left and right horizontal push mechanisms (6) and at least three speed reduction drive device (7) that are the axisymmetric mode and install above platform body (1), two front and back horizontal push mechanisms (5) after the installation, left and right horizontal push mechanism (6) form the square region that is used for unmanned aerial vehicle (9) to take off and land, each speed reduction drive device (7) are used for driving two left and right horizontal push mechanisms (6) and/or two left and right horizontal push mechanisms (6) to the synchronous phase motion or the reverse motion of the center department in the square region that forms respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111273782.2A CN113859566B (en) | 2021-10-29 | 2021-10-29 | Lifting and leveling take-off and landing platform, device and method for vehicle-mounted unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111273782.2A CN113859566B (en) | 2021-10-29 | 2021-10-29 | Lifting and leveling take-off and landing platform, device and method for vehicle-mounted unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113859566A true CN113859566A (en) | 2021-12-31 |
| CN113859566B CN113859566B (en) | 2024-05-14 |
Family
ID=78986097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111273782.2A Active CN113859566B (en) | 2021-10-29 | 2021-10-29 | Lifting and leveling take-off and landing platform, device and method for vehicle-mounted unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113859566B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114368335A (en) * | 2022-02-24 | 2022-04-19 | 浙江华云清洁能源有限公司 | Unmanned aerial vehicle deviation correcting device and locomotive that has this unmanned aerial vehicle deviation correcting device |
| CN114572094A (en) * | 2022-03-29 | 2022-06-03 | 吉林大学 | Vehicle-mounted unmanned aerial vehicle platform suitable for off-road vehicle |
| CN114751119A (en) * | 2022-05-09 | 2022-07-15 | 浙江联运环境工程股份有限公司 | Garbage classification recycling bin compression mechanism with double drive units and leveling method thereof |
| CN114879752A (en) * | 2022-05-16 | 2022-08-09 | 乐歌人体工学科技股份有限公司 | Rack, control method and control device for rack level and storage medium |
| CN115139889A (en) * | 2022-08-05 | 2022-10-04 | 国网湖南省电力有限公司 | Vehicle-mounted unmanned aerial vehicle lifting device and application method thereof |
| CN115321421A (en) * | 2022-10-14 | 2022-11-11 | 南通鸿源达智能化工程有限公司 | Automatic leveling lifting platform |
| CN116573155A (en) * | 2023-06-29 | 2023-08-11 | 北京卫星环境工程研究所 | Unmanned aerial vehicle transfers appearance device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202006014183U1 (en) * | 2006-09-12 | 2006-11-09 | Otto Nussbaum Gmbh & Co Kg | Lifting platform for heavy loads, especially motor vehicles in a workshop, has a hydraulic cylinder by a hydraulic pump to raise and lower the load support surfaces by the operation of pivoting scissor levers between them and the ground |
| CN103738226A (en) * | 2014-01-15 | 2014-04-23 | 连云港天明装备有限公司 | Lifting device of trackless rubber-tyred transport cart |
| US8910749B1 (en) * | 2012-08-14 | 2014-12-16 | Dallas S. Jensen | Skid-mounted scissor lift platform |
| CN107672817A (en) * | 2017-09-21 | 2018-02-09 | 内蒙古工业大学 | A kind of intelligent landing system of mobile vehicle-mounted unmanned plane |
| CN109515731A (en) * | 2018-11-06 | 2019-03-26 | 上海复亚智能科技有限公司 | A kind of vehicle-mounted automatic airport landing equipment of unmanned plane and its control method |
| CN209814324U (en) * | 2019-03-27 | 2019-12-20 | 湖南优加特装智能科技有限公司 | Be applied to unmanned aerial vehicle's of mooring platform that takes off and land |
| CN112373710A (en) * | 2020-12-08 | 2021-02-19 | 广州穿越千机创新科技有限公司 | Aircraft take-off and landing system applied to complex terrain |
| CN113336151A (en) * | 2021-06-29 | 2021-09-03 | 河北中农博远农业装备有限公司 | System and method for leveling platform of working machine |
-
2021
- 2021-10-29 CN CN202111273782.2A patent/CN113859566B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202006014183U1 (en) * | 2006-09-12 | 2006-11-09 | Otto Nussbaum Gmbh & Co Kg | Lifting platform for heavy loads, especially motor vehicles in a workshop, has a hydraulic cylinder by a hydraulic pump to raise and lower the load support surfaces by the operation of pivoting scissor levers between them and the ground |
| US8910749B1 (en) * | 2012-08-14 | 2014-12-16 | Dallas S. Jensen | Skid-mounted scissor lift platform |
| CN103738226A (en) * | 2014-01-15 | 2014-04-23 | 连云港天明装备有限公司 | Lifting device of trackless rubber-tyred transport cart |
| CN107672817A (en) * | 2017-09-21 | 2018-02-09 | 内蒙古工业大学 | A kind of intelligent landing system of mobile vehicle-mounted unmanned plane |
| CN109515731A (en) * | 2018-11-06 | 2019-03-26 | 上海复亚智能科技有限公司 | A kind of vehicle-mounted automatic airport landing equipment of unmanned plane and its control method |
| CN209814324U (en) * | 2019-03-27 | 2019-12-20 | 湖南优加特装智能科技有限公司 | Be applied to unmanned aerial vehicle's of mooring platform that takes off and land |
| CN112373710A (en) * | 2020-12-08 | 2021-02-19 | 广州穿越千机创新科技有限公司 | Aircraft take-off and landing system applied to complex terrain |
| CN113336151A (en) * | 2021-06-29 | 2021-09-03 | 河北中农博远农业装备有限公司 | System and method for leveling platform of working machine |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114368335A (en) * | 2022-02-24 | 2022-04-19 | 浙江华云清洁能源有限公司 | Unmanned aerial vehicle deviation correcting device and locomotive that has this unmanned aerial vehicle deviation correcting device |
| CN114572094A (en) * | 2022-03-29 | 2022-06-03 | 吉林大学 | Vehicle-mounted unmanned aerial vehicle platform suitable for off-road vehicle |
| CN114751119A (en) * | 2022-05-09 | 2022-07-15 | 浙江联运环境工程股份有限公司 | Garbage classification recycling bin compression mechanism with double drive units and leveling method thereof |
| CN114879752A (en) * | 2022-05-16 | 2022-08-09 | 乐歌人体工学科技股份有限公司 | Rack, control method and control device for rack level and storage medium |
| CN115139889A (en) * | 2022-08-05 | 2022-10-04 | 国网湖南省电力有限公司 | Vehicle-mounted unmanned aerial vehicle lifting device and application method thereof |
| CN115321421A (en) * | 2022-10-14 | 2022-11-11 | 南通鸿源达智能化工程有限公司 | Automatic leveling lifting platform |
| CN115321421B (en) * | 2022-10-14 | 2023-12-05 | 南通鸿源达智能化工程有限公司 | Automatic leveling lifting platform |
| CN116573155A (en) * | 2023-06-29 | 2023-08-11 | 北京卫星环境工程研究所 | Unmanned aerial vehicle transfers appearance device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113859566B (en) | 2024-05-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113859566A (en) | Vehicle-mounted unmanned aerial vehicle lifting leveling take-off and landing platform, device and method | |
| CN113830321B (en) | Unmanned aerial vehicle-mounted recovery platform | |
| CN110662662A (en) | Integrated air-ground transport system | |
| CN110194265B (en) | Long-range unmanned aerial vehicle for automatic marine water body collection and control method thereof | |
| CN105059072A (en) | Triphibian scooter | |
| CN108516080B (en) | Ground-air cooperative dynamic docking device | |
| CN113104056B (en) | Split type engineering inspection robot platform | |
| CN111186575A (en) | Unmanned aerial vehicle transportation transfer device | |
| CN114261325A (en) | Unmanned aerial vehicle unattended station system based on it is on-vehicle | |
| CN112722305B (en) | Unmanned aerial vehicle machine nest | |
| CN111619805B (en) | Aerial take-off and landing device suitable for solar unmanned aerial vehicle and aerial flight platform | |
| WO2018076834A1 (en) | Multimodal transport interworking system | |
| CN114620243B (en) | Intelligent take-off and landing capturing system for aircraft | |
| CN112224433A (en) | Unmanned aerial vehicle helps and flies device and unmanned aerial vehicle system | |
| CN114408201B (en) | Fixed wing unmanned aerial vehicle recycling system and method | |
| CN114572412B (en) | Unmanned aerial vehicle library system for lifting transfer and control method thereof | |
| CN113199915B (en) | Air-ground amphibious unmanned aerial vehicle and flight control method thereof | |
| CN101920787A (en) | Aircraft fuselage orientation adjustment steering wheel stand | |
| CN215475802U (en) | Unmanned aerial vehicle machine nest | |
| CN110239685B (en) | Self-stabilization multi-unmanned-aerial-vehicle landing device based on parallel four-bar linkage mechanism for unmanned ship platform | |
| CN114180489A (en) | Lifting vehicle of self-boarding platform | |
| CN220031798U (en) | Automatic retractable platform of underwater multifunctional detection vehicle | |
| CN217972410U (en) | Lifting platform and lifting control system | |
| CN219929535U (en) | AGV car | |
| CN112407317B (en) | Multi-angle dismounting platform for aircraft engine and working method of multi-angle dismounting platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |