CN114572412B - Unmanned aerial vehicle library system for lifting transfer and control method thereof - Google Patents
Unmanned aerial vehicle library system for lifting transfer and control method thereof Download PDFInfo
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- CN114572412B CN114572412B CN202210226563.7A CN202210226563A CN114572412B CN 114572412 B CN114572412 B CN 114572412B CN 202210226563 A CN202210226563 A CN 202210226563A CN 114572412 B CN114572412 B CN 114572412B
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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
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Aviation & Aerospace Engineering (AREA)
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- Transportation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to the technical field of unmanned aerial vehicle libraries, and particularly discloses an unmanned aerial vehicle library for lifting and transferring and a control method thereof. The unmanned aerial vehicle storage cabin comprises a storage cabin body, an unmanned aerial vehicle storage module, an unmanned aerial vehicle transfer platform module and an electromagnetic charging module, wherein the storage cabin body comprises a box body, a frame body and an upright post, the unmanned aerial vehicle storage module is provided with a plurality of storage cabin bodies and comprises an aircraft supporting plate, a supporting plate sliding driving piece and an aircraft positioning adjusting piece, the unmanned aerial vehicle transfer platform module comprises a transfer supporting piece, a turnover driving piece, a vertical lifting driving piece and a dragging mechanism, and the dragging mechanism is fixedly arranged on the transfer supporting piece and is used for transferring the aircraft supporting plate to the transfer supporting piece; the electromagnetic charging module is arranged on the aircraft supporting plate and is used for wirelessly charging the unmanned aerial vehicle when the unmanned aerial vehicle is parked on the aircraft supporting plate. The movable unmanned aerial vehicle library provided by the invention realizes the accurate docking of multiple unmanned aerial vehicles, effectively improves the safety and stability of the unmanned aerial vehicle library in executing tasks, and improves the working efficiency of the unmanned aerial vehicle library.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle libraries, and particularly relates to an unmanned aerial vehicle library system for lifting and transferring and a control method thereof.
Background
Along with the wide application of the rotor unmanned aerial vehicle, the unmanned aerial vehicle library matched with the rotor unmanned aerial vehicle is also applied, and the unmanned aerial vehicle library is mainly divided into a box type, a sliding cover type, a drawer type, a clam type and the like from the structure at present; the installation platform is mainly provided with ground (including the top surface of a building) installation type, overhead installation type, vehicle-mounted installation type and the like; the functions include storage type, energized type (with certain protection functions such as ring control and/or charging), etc., and the functions are controlled by manual operation type, automatic control type, etc. Although the unmanned aerial vehicle library is a five-flower eight door, one obvious fact is that the unmanned aerial vehicle library is not only used as a parking device of the rotary wing unmanned aerial vehicle, but is used as an effective means for energizing the unmanned aerial vehicle, so that the use efficiency and benefit of the rotary wing unmanned aerial vehicle are improved, the use field of the rotary wing unmanned aerial vehicle is expanded, the convenience of use and guarantee is increased, and the effect that one is increased by more than two is achieved.
Although unmanned aerial vehicle technology has been greatly developed in recent years, special constraint conditions are provided for technical requirements and manufacturing cost of the unmanned aerial vehicle due to inherent characteristics and relatively low price of the rotor unmanned aerial vehicle, so that a plurality of defects exist in the current unmanned aerial vehicle in practical application, and the unmanned aerial vehicle mainly comprises: firstly, the contradiction between the functionality and the fitting performance is prominent. Because the rotor unmanned aerial vehicle needing to use the hangar is mainly commercial and engineering-level unmanned aerial vehicle, compared with consumer unmanned aerial vehicle, the rotor unmanned aerial vehicle has great geometry and weight, and their unilateral wingtip distance size can reach 800-1000 mm generally, and weight reaches 4000Kg (when no additional load), the hangar that corresponds to it also has certain geometry and volume, and especially the hangar in the current practical application is very few only to have the function of depositing unmanned aerial vehicle, generally still provides the platform that takes off and land for unmanned aerial vehicle at least, in order to guarantee safe take off and land, need take off and land the platform area as big as possible. In addition, some libraries with more complex functions and higher performance, such as functions of automatic centering, automatic out/in warehouse, in-warehouse charging, in-warehouse detection and the like, have more built-in parts and more complex structures due to the increase of functions, and the largest geometric dimension, volume and weight of the libraries are also caused to be larger. Secondly, the autonomous working capacity of the hangar is insufficient. At present, unmanned aerial vehicle libraries are manually controlled, but most of unmanned aerial vehicle libraries adopt an automatic control mode, so that basic functions of positioning and righting after the unmanned aerial vehicle is fallen, warehousing and residing, leaving and flying, and the like can be automatically completed, and some functions are more complete, and in-library charging (or motor replacement), machine library environmental control, meteorological parameter acquisition, video monitoring, and the like can also be automatically completed. Thirdly, the endurance of the unmanned aerial vehicle is insufficient. Although the technology of rotorcraft has been greatly developed in recent years, it has some inherent disadvantages such as the problem of the piloting force of rotorcraft due to its inherent characteristics and limitations of some technologies, and its relatively low cost. Because most of the existing rotor unmanned aerial vehicles adopt batteries to provide energy, the battery technology is limited, the battery endurance time of general commercial and engineering-grade unmanned aerial vehicles is about 30 minutes, and under the current technical condition, the ratio of charging time to working time is generally more than 10:1, the rotor unmanned aerial vehicle cannot be used continuously for a long time or used for a long distance, the exertion of the efficiency and the wider application of the rotor unmanned aerial vehicle are seriously restricted, and the rotor unmanned aerial vehicle becomes a bottleneck problem. Fourth, unmanned aerial vehicle and hangar integration are not enough. To realize cluster use and intelligent scheduling, the unmanned aerial vehicle and the hangar can be closely related, weak correlation in the traditional use mode is changed into strong correlation, the hangar and the hangar are developed towards the integrated fusion direction, and a 'hangar/hangar integrated unmanned aerial vehicle system' is constructed. The existing products have no functions in the aspects of machine and library, and have no related integration and research and development, so that the integration and fusion of the machine and the library are not enough and almost blank.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides an unmanned aerial vehicle library system for lifting and transferring and a control method thereof, wherein the unmanned aerial vehicle library system for realizing cluster use and intelligent scheduling is correspondingly designed by combining the characteristics of an unmanned aerial vehicle and the technical characteristics of stopping and executing tasks, and the key components such as a storage cabin box body, an unmanned aerial vehicle storage module, an unmanned aerial vehicle transferring platform module and an electromagnetic charging module and the specific setting modes thereof are researched and designed, so that the unmanned aerial vehicle library system correspondingly enables an airplane tray to be matched with a plurality of driving devices in a cooperative manner according to the task characteristics of the unmanned aerial vehicle, so that the unmanned aerial vehicle realizes taking off and landing outside the unmanned aerial vehicle library, and the safety of the unmanned aerial vehicle is ensured. And unmanned aerial vehicles with different heights in the transfer support piece random warehouse are subjected to self-adaptive adjustment, so that the autonomous working capacity of the warehouse is greatly improved, and meanwhile, the capacity of the warehouse for accommodating unmanned aerial vehicles is further improved. According to the invention, the electromagnetic charging module is integrated in the hangar, so that the unmanned aerial vehicle can be automatically charged after being put in storage, and the endurance of the unmanned aerial vehicle is improved. In general, the hangar system can realize the full-automatic work of unmanned aerial vehicles, provide more unmanned aerial vehicle in-store security, have the integrated high degree of integration of machine/storehouse, support cluster use and intelligent scheduling. The method has the characteristics of convenience in scheduling, high safety performance, high integration degree of the machine and the library and the like.
In order to achieve the above object, according to one aspect of the present invention, there is provided a unmanned aerial vehicle library system for lifting and transferring, comprising a storage compartment box, an unmanned aerial vehicle storage module, an unmanned aerial vehicle transferring platform module and an electromagnetic charging module, wherein,
the storage cabin box body comprises a box body, a frame body and an upright post which are fixedly arranged on a truck chassis girder, wherein the frame body is arranged in the box body, and the upright post is arranged at a garage door of the box body;
the unmanned aerial vehicle storage modules are arranged in an array manner and are arranged in the frame body, each unmanned aerial vehicle storage module comprises an aircraft supporting plate, a supporting plate sliding driving piece and an aircraft positioning adjusting piece, the aircraft supporting plates are movably arranged on the frame body, the supporting plate sliding driving pieces are connected with the aircraft supporting plates and are used for driving the aircraft supporting plates to move transversely along the storage cabin box body, and the aircraft positioning adjusting pieces are arranged on the aircraft supporting plates and are used for adjusting the positions of unmanned aerial vehicles so that the parking positions of the unmanned aerial vehicles correspond to the positions of the electromagnetic charging modules;
the unmanned aerial vehicle load-carrying platform module comprises a load-carrying support piece, an overturning driving piece, a vertical lifting driving piece and a dragging mechanism, wherein the load-carrying support piece is movably connected with the upright post, the overturning driving piece is hinged with the load-carrying support piece and is used for driving the load-carrying support piece to rotate along a hinge point, the vertical lifting driving piece is connected with the load-carrying support piece and is used for driving the load-carrying support piece to move along the upright post when the load-carrying support piece is in a horizontal state, so that the load-carrying support piece is flush with a corresponding aircraft supporting plate, and the dragging mechanism is fixedly arranged on the load-carrying support piece and is used for carrying the aircraft supporting plate to the load-carrying support piece;
The electromagnetic charging module is arranged on the aircraft supporting plate and is used for wirelessly charging the unmanned aerial vehicle when the unmanned aerial vehicle is parked on the aircraft supporting plate.
As a further preferable mode, the unmanned aerial vehicle charging system further comprises a control module, wherein the control module is in communication connection with the unmanned aerial vehicle storage module, the unmanned aerial vehicle transfer platform module and the electromagnetic charging module and is used for controlling the cooperative work of the unmanned aerial vehicle storage module, the unmanned aerial vehicle transfer platform module and the electromagnetic charging module.
As a further preferred aspect, the electromagnetic charging module comprises a transmitting unit and a receiving unit,
the transmitting unit is fixedly arranged on the aircraft supporting plate and comprises a transmitting end converter and a transmitting coil which are sequentially connected;
the receiving unit is arranged on the unmanned aerial vehicle and comprises a receiving coil and a receiving end converter which are sequentially connected;
the control module controls the transmitting end converter to electrify the transmitting coil, the receiving coil induces a high-frequency strong magnetic field formed by the transmitting coil, and the high-frequency strong magnetic field is induced, rectified and filtered by the receiving end converter to be the charging voltage required by the unmanned aerial vehicle battery.
As a further preferred aspect, the pallet sliding driving part includes a first driving motor assembly, a first driving wheel, a first rotating shaft, a first driving belt, a first driven wheel and a second rotating shaft, wherein a power output shaft of the first driving motor assembly is connected with the first rotating shaft, the first rotating shaft is connected with the first driving wheel, the first driven wheels are provided with a plurality of wheels and are all arranged at the bottom of the aircraft pallet, each first driven wheel is connected with one second rotating shaft, the first driving wheel is connected with one adjacent first driven wheel and two adjacent first driven wheels through the first driving belt, and the first driving motor assembly is in communication connection with the control module.
As a further preferred aspect, the aircraft positioning adjusting member includes a first adjusting plate, a second adjusting plate, an adjusting driving motor and an adjusting slide, the first adjusting plate and the second adjusting plate are arranged along the lateral direction of the storage cabin box body, the adjusting slide is arranged on the aircraft supporting plate along the longitudinal direction of the storage cabin box body, the adjusting driving motor is in communication connection with the control module, and the first adjusting plate and the second adjusting plate are both in movable connection with the adjusting slide and move along the adjusting slide under the driving action of the adjusting driving motor so as to adjust the position of the unmanned aerial vehicle parked on the aircraft supporting plate.
As a further preferred aspect, the turning driving member includes a lifting connection plate, a rotation plate, and a hydraulic rod assembly, the lifting connection plate is connected with the upright, one end of the rotation plate is rotatably connected with the lifting connection plate, the other end is rotatably connected with the bottom end of the transfer support member, one end of the hydraulic rod assembly is rotatably connected with the lifting connection plate, and the other end is connected with the middle part of the transfer support member, in this way, the transfer support member is turned with the lifting connection plate as a hinge point.
As a further preferred aspect, the vertical lifting driving member includes a speed reduction driving assembly, a screw nut, a slider and a slide rail, the speed reduction driving assembly is connected with the screw assembly through a speed reduction rotation shaft, the screw nut is arranged on the screw assembly, the screw assembly is arranged in parallel with the upright post, one side of the slider is fixedly connected with the screw nut, the other side of the slider is slidably connected with the slide rail, the slider is fixedly connected with the lifting connection plate, and the slide rail is arranged on the upright post.
As a further preferred aspect, the towing mechanism includes a second driving motor assembly, a second driving wheel, a third rotating shaft, a second driving belt, a second driven wheel and a fourth rotating shaft, wherein a power output shaft of the second driving motor assembly is connected with the third rotating shaft, the second rotating shaft is connected with the second driving wheel, a plurality of second driven wheels are arranged at the bottom of the aircraft pallet, each second driven wheel is connected with one fourth rotating shaft, the second driving wheel is in transmission connection with one second driven wheel adjacent to the second driving wheel and two second driven wheels adjacent to the second driving wheel through the second driving belt, and the second driving motor assembly is in communication connection with the control module.
As a further preferable mode, the frame body is further provided with a first dragging groove which is symmetrically arranged on two sides of the aircraft supporting plate along the longitudinal direction of the storage cabin box body, and a plurality of rolling wheels are arranged at the connecting surface of the aircraft supporting plate and the first dragging groove;
and the transfer support piece is provided with a second dragging groove which is symmetrically arranged on two sides of the aircraft supporting plate along the longitudinal direction of the storage cabin box body.
According to another aspect of the present invention, there is also provided a method for controlling a lifting and transferring unmanned aerial vehicle library, implemented by adopting the above unmanned aerial vehicle library system for lifting and transferring, comprising the steps of:
s1, receiving a take-off instruction of a target unmanned aerial vehicle, and controlling a garage door of a storage cabin box body where the target unmanned aerial vehicle is positioned to be opened;
s2, controlling the overturning driving piece to drive the transfer supporting piece to overturn to a horizontal position, and then controlling the vertical lifting driving piece to move the transfer supporting piece to a position where the plane supporting plate of the target unmanned aerial vehicle is flush;
s3, controlling a pallet sliding driving piece to drive the airplane pallet to transversely move along the storage cabin box body, so that the airplane pallet is transferred out of the storage cabin box body, and simultaneously, driving a dragging mechanism to act, so that the dragging mechanism drags the airplane pallet to a transfer supporting piece, and the airplane positioning adjusting piece releases locking of a target unmanned aerial vehicle, so that the target unmanned aerial vehicle takes off and executes a task;
S4, after the target unmanned aerial vehicle flies back, the target unmanned aerial vehicle stops on the plane supporting plate, and the plane positioning adjusting piece adjusts the position of the target unmanned aerial vehicle, so that the target unmanned aerial vehicle stopping position corresponds to the position of the electromagnetic charging module, and the electromagnetic charging module is started to charge the target unmanned aerial vehicle;
s5, the support plate sliding driving piece drives the airplane support plate to move transversely along the storage cabin box body, so that the airplane support plate moves into the storage cabin box body, and meanwhile, the support plate sliding driving piece drives the airplane support plate to move transversely along the storage cabin box body until the airplane support plate returns to the initial position.
In general, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. according to the invention, the characteristics of the unmanned aerial vehicle and the technological characteristics of stopping and executing tasks are combined, and the aircraft tray is matched with the multi-drive device in a cooperative manner, so that the unmanned aerial vehicle can take off and land outside the hangar, and the safety of the unmanned aerial vehicle is ensured. And unmanned aerial vehicles with different heights in the transfer support piece random warehouse are subjected to self-adaptive adjustment, so that the autonomous working capacity of the warehouse is greatly improved, and meanwhile, the capacity of the warehouse for accommodating unmanned aerial vehicles is further improved. According to the invention, the electromagnetic charging module is integrated in the hangar, so that the unmanned aerial vehicle can be automatically charged after being put in storage, and the endurance of the unmanned aerial vehicle is improved. In general, the hangar system can realize the full-automatic work of unmanned aerial vehicles, provide more unmanned aerial vehicle in-store security, have the integrated high degree of integration of machine/storehouse, support cluster use and intelligent scheduling. The method has the characteristics of convenience in scheduling, high safety performance, high integration degree of the machine and the library and the like.
2. The invention integrates the electromagnetic charging module, realizes wireless charging of the unmanned aerial vehicle, and further ensures the endurance of the unmanned aerial vehicle.
3. The aircraft positioning adjusting piece is used for correcting the unmanned aerial vehicle which lands and parks on the unmanned aerial vehicle storage unit, so that the unmanned aerial vehicle parks on the appointed unmanned aerial vehicle storage unit position, and the aircraft positioning adjusting piece is convenient to lock; the airplane positioning adjusting piece is used for locking the unmanned aerial vehicle to ensure that the unmanned aerial vehicle cannot move in the transportation process so as to avoid collision danger; the vertical lifting driving piece pulls the transfer supporting piece to move up and down, and the designated position positioning is completed.
4. The dragging mechanism adopts a double-side transmission belt type dragging-out and sliding rail guiding system, and ensures stable and reliable operation. The alignment device after the aircraft supporting plate is towed out adopts a motor, a lead screw and a linear guide rail to drive a transfer hooking mechanism to butt-joint a parking position, so that the unmanned aerial vehicle storage unit is towed out/towed into the parking position. The lifting device of the vertical lifting driving piece adopts a bottom fixed motor and a screw rod for transmission lifting, so that the lifting speed is ensured, and meanwhile, the lifting position can be accurately controlled.
Drawings
Fig. 1 is a schematic three-dimensional structure of a lifting transfer unmanned aerial vehicle library system according to an embodiment of the present invention;
Fig. 2 is a schematic diagram of an internal structure of a lifting and transferring unmanned aerial vehicle library system according to an embodiment of the present invention.
Like reference numerals denote like technical features throughout the drawings, in particular: 1-storage cabin box, 11-frame body, 12-stand, 2-unmanned aerial vehicle storage module, 21-aircraft layer board, 22-aircraft positioning adjustment piece, 23-layer board sliding drive piece, 231-driving motor component, 232-driving belt, 233-driven wheel, 234-second axis of rotation, 3-unmanned aerial vehicle moves and carries platform module, 31-moves and carries support piece, 32-upset drive piece, 33-vertical lift drive piece, 34-drags and gets the mechanism, 341-lift connecting plate, 342-pivoted board, 343-hydraulic lever component.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
As shown in fig. 1, the unmanned aerial vehicle library system for lifting and transferring provided by the embodiment of the invention comprises a storage cabin box body 1, an unmanned aerial vehicle storage module 2, an unmanned aerial vehicle transferring platform module 3 and an electromagnetic charging module, wherein the storage cabin box body 1 comprises a box body 13 fixedly arranged on a truck chassis girder, a frame body 11 and an upright post 12, the frame body 11 is arranged in the box body 13, and the upright post 12 is arranged at an opening of the box body 13; the unmanned aerial vehicle storage modules are arranged in an array manner in the frame 11, each unmanned aerial vehicle storage module comprises an aircraft supporting plate 21, a supporting plate sliding driving piece 23 and an aircraft positioning adjusting piece 22, the aircraft supporting plate 21 is movably arranged on the frame 11, the supporting plate sliding driving piece 23 is connected with the aircraft supporting plate 21 and used for driving the aircraft supporting plate 21 to transversely move along the storage cabin box 1, and the aircraft positioning adjusting pieces 22 are arranged on the aircraft supporting plate 21 and used for adjusting the position of an unmanned aerial vehicle so that the parking position of the unmanned aerial vehicle corresponds to the position of the electromagnetic charging module; the unmanned aerial vehicle transferring platform module 3 comprises a transferring support piece 31, a turnover driving piece 32, a vertical lifting driving piece 33 and a dragging mechanism 34, wherein the transferring support piece 31 is movably connected with the upright post 12, the turnover driving piece 32 is hinged with the transferring support piece 31 and is used for driving the transferring support piece 31 to rotate along a hinge point, the vertical lifting driving piece 33 is connected with the transferring support piece 31 and is used for driving the transferring support piece 31 to move along the upright post 12 when the transferring support piece 31 is in a horizontal state, so that the transferring support piece 31 is flush with the corresponding airplane support plate 21, and the dragging mechanism 34 is fixedly arranged on the transferring support piece 31 and is used for transferring the airplane support plate 21 onto the transferring support piece 31; the electromagnetic charging module is arranged on the airplane support plate 21 and is used for wirelessly charging the unmanned aerial vehicle when the unmanned aerial vehicle is parked on the airplane support plate 21.
In a preferred embodiment of the present invention, the system further comprises a control module, wherein the control module is in communication connection with the unmanned aerial vehicle storage module 2, the unmanned aerial vehicle transfer platform module 3 and the electromagnetic charging module, and is used for controlling the cooperative work of the unmanned aerial vehicle storage module 2, the unmanned aerial vehicle transfer platform module 3 and the electromagnetic charging module.
In the preferred embodiment of the invention, the cabinet 13 is provided with a garage door. And when the target unmanned aerial vehicle needs to execute the corresponding task or complete the task, the control module opens or closes the library door so as to meet the task requirement of the target unmanned aerial vehicle. In another embodiment of the invention, the box is constructed with a frame structure and a plate structure, the structure of which is adapted to the truck on which the box is mounted. Generally square in configuration.
In a preferred embodiment of the present invention, the frame 11 divides the case 13 into a plurality of unmanned aerial vehicle storage areas. In the present invention, the frame body 11 divides the box body 13 into 2 sets of unmanned aerial vehicle storage areas symmetrically arranged in the longitudinal direction of the box body. Every unmanned aerial vehicle storage area of group all is equipped with 3 unmanned aerial vehicle parking areas, and 3 unmanned aerial vehicle parking areas are along the vertical arrangement of box promptly. Each group of unmanned aerial vehicle storage areas is provided with an unmanned aerial vehicle transfer platform module 3. That is, in the present invention, one unmanned aerial vehicle transfer platform module 3 matches unmanned aerial vehicle parking areas of different heights by moving vertically.
In one embodiment of the present invention, the pallet sliding driving part 23 includes a first driving motor assembly 231, a first driving wheel, a first rotating shaft, a first transmission belt 232, a first driven wheel 233 and a second rotating shaft 234, wherein a power output shaft of the first driving motor assembly 231 is connected to the first rotating shaft, the first rotating shaft is connected to the first driving wheel, a plurality of first driven wheels 233 are provided and are all disposed at the bottom of the aircraft pallet 21, each first driven wheel 233 is connected to one of the second rotating shafts 234, the first driving wheel is in transmission connection with one first driven wheel 233 adjacent to the first driving wheel and two first driven wheels 233 adjacent to the first driving wheel through the first transmission belt 232, and the first driving motor assembly 231 is in communication connection with a control module, in this way, the first driving wheel is driven to rotate through the first driving motor assembly 231 to drive the first driven wheels 233 to rotate, so that the aircraft pallet 21 moves transversely along the storage bin 1.
More specifically, in the above embodiment, the first driving motor assembly 231 includes the helical gear turbine gear motor, and the power output shaft of the helical gear turbine gear motor is connected to the first rotating shaft, which is connected to the rotating shaft of the first driving wheel through the transmission belt, in such a manner that power is transmitted to the first driving wheel. Meanwhile, the first driving wheel is connected with the rotating shaft of the adjacent first driven wheel 233 through another driving belt, so as to drive the first driven wheel 233 to rotate. In the present invention, the pallet sliding driving part 23 is fixedly provided on the frame body 11, and at the same time, the airplane pallet 21 is provided on a plurality of first driven wheels to move in the direction of the garage door or in the direction away from the garage door by the rotation of the driven wheels.
In one embodiment of the present invention, the aircraft positioning adjustment member 22 includes a first adjustment plate, a second adjustment plate, an adjustment driving motor, and an adjustment slide, where the first adjustment plate and the second adjustment plate are disposed along a transverse direction of the storage compartment box 1, the adjustment slide is disposed on the aircraft support plate 21 along a longitudinal direction of the storage compartment box 1, the adjustment driving motor is in communication connection with the control module, and the first adjustment plate and the second adjustment plate are both movably connected with the adjustment slide and move along the adjustment slide under a driving effect of the adjustment driving motor to adjust a position of the unmanned aerial vehicle parked on the aircraft support plate 21. In the invention, when the unmanned aerial vehicle is out of the hangar, the first adjusting plate and the second adjusting plate are mutually far away from each other to reserve the landing stopping position of the unmanned aerial vehicle, when the unmanned aerial vehicle is dropped, the first adjusting plate and the second adjusting plate move to the appointed position along the adjusting slide way, in the moving process, the parking direction and the position of the unmanned aerial vehicle are adjusted, and meanwhile, when the unmanned aerial vehicle moves to the appointed position, the first adjusting plate and the second adjusting plate are also used for locking the unmanned aerial vehicle on the plane supporting plate 21, so that the unmanned aerial vehicle can be prevented from shaking and collision when the truck moves and jolts.
In one embodiment of the present invention, the turning driving member 32 includes a lifting connection plate 341, a rotation plate 342, and a hydraulic rod assembly 343, wherein the lifting connection plate 341 is connected to the upright 12, one end of the rotation plate 342 is rotatably connected to the lifting connection plate 341, the other end is rotatably connected to the bottom end of the transfer support member 31, and one end of the hydraulic rod assembly 343 is rotatably connected to the lifting connection plate 341, and the other end is connected to the middle of the transfer support member 31, in such a manner that the transfer support member 31 is rotatably turned around the lifting connection plate 341 as a hinge point.
In one embodiment of the present invention, the vertical lift driving member 33 includes a reduction driving assembly, a screw nut, a slider and a slide rail, wherein the reduction driving assembly is connected with the screw assembly through a reduction rotation shaft, the screw nut is disposed on the screw assembly, the screw assembly is disposed parallel to the upright 12, one side of the slider is fixedly connected with the screw nut, the other side of the slider is slidingly connected with the slide rail, the slider is fixedly connected with the lifting connection plate 341, and the slide rail is disposed on the upright 12, in this way, the screw nut is driven by the reduction driving assembly to do a linear motion along the screw assembly to drive the lifting connection plate 341 to do a linear motion. In the above embodiment, the deceleration driving assembly includes the overturning cylinder, the overturning cylinder is connected with the lifting connection plate and the transfer support 31 through the hinge, and meanwhile, the overturning cylinder is formed to enable the transfer support 31 to overturn in the range of 0 ° to 90 °.
In one embodiment of the present invention, the vertical lift driving member 33 includes a reduction driving assembly, a screw nut, a slider and a slide rail, wherein the reduction driving assembly is connected with the screw assembly through a reduction rotation shaft, the screw nut is disposed on the screw assembly, the screw assembly is disposed parallel to the upright 12, one side of the slider is fixedly connected with the screw nut, the other side of the slider is slidingly connected with the slide rail, the slider is fixedly connected with the lifting connection plate 341, and the slide rail is disposed on the upright 12, in this way, the screw nut is driven by the reduction driving assembly to do a linear motion along the screw assembly to drive the lifting connection plate 341 to do a linear motion.
In one embodiment of the present invention, the towing mechanism 34 includes a second driving motor assembly, a second driving wheel, a third rotation shaft, a second transmission belt, a second driven wheel, and a fourth rotation shaft, where a power output shaft of the second driving motor assembly is connected to the third rotation shaft, the second rotation shaft is connected to the second driving wheel, the second driven wheels are provided in a plurality and are all disposed at the bottom of the aircraft pallet 21, each second driven wheel is connected to one fourth rotation shaft, the second driving wheel is connected to one second driven wheel adjacent to the second driving wheel and two second driven wheels adjacent to the second driving wheel through the second transmission belt, and the second driving motor assembly is connected to the control module in a communication manner, and the second driving wheel is driven to rotate by the second driving motor assembly, so as to drive the second driven wheels to rotate, so that the aircraft pallet 21 moves transversely along the transfer support 31. Similar to the flip drive described above, in this embodiment, the second drive motor assembly includes a helical gear turbine reduction motor.
In the preferred embodiment of the present invention, the frame 11 is further provided with a first dragging groove, the first dragging groove is symmetrically arranged at two sides of the aircraft supporting plate 21 along the longitudinal direction of the storage compartment box 1, and a plurality of rolling wheels are arranged at the connection surface of the aircraft supporting plate 21 and the first dragging groove. Further, in order to achieve stability of the aircraft carrier, in the invention, the first dragging groove is further provided with a locking piece, and the locking piece is in traffic connection with the control module and is used for locking the aircraft carrier after the aircraft carrier returns. The transfer support 31 is provided with second dragging grooves symmetrically arranged on two sides of the plane supporting plate 21 along the longitudinal direction of the storage compartment box 1.
In a preferred embodiment of the present invention, the electromagnetic charging module includes a transmitting unit and a receiving unit, the transmitting unit is fixedly arranged on the aircraft supporting plate 21, and the transmitting unit includes a transmitting terminal converter and a transmitting coil which are sequentially connected; the receiving unit is arranged on the unmanned aerial vehicle and comprises a receiving coil and a receiving end converter which are sequentially connected; the control module controls the transmitting end converter to electrify the transmitting coil, the receiving coil induces a high-frequency strong magnetic field formed by the transmitting coil, and the high-frequency strong magnetic field is induced, rectified and filtered by the receiving end converter to be the charging voltage required by the unmanned aerial vehicle battery. As a preferred scheme of the embodiment, the receiving unit adopts a full-bridge controllable rectifying topological structure, and four mosfets are used for replacing four diodes of the traditional uncontrolled rectification; a synchronous rectification chip is arranged on each mosfet to detect reverse conduction voltage drop, and when current is conducted reversely, the mosfets are turned on to reduce loss; the coil adopts litz wire, and the magnetic material adopts nanocrystalline material. In addition, in the invention, the electromagnetic charging module also comprises a transmitting end converter controller, a receiving end converter controller, a protection device and a communication component; the control module is connected with the transmitting end converter and the receiving end converter and used for carrying out charging control and electric safety control. In the invention, when the control module recognizes that the unmanned aerial vehicle is parked to the appointed position on the airplane support plate, the electromagnetic charging module is controlled to charge the unmanned aerial vehicle.
More specifically, in a preferred embodiment of the present invention, the storage system of the unmanned aerial vehicle is two storage areas, which are mutually backup, and each storage area has an external dimension of: 5100 x 2400 x 2900 (mm), each area is designed with 3 drone storage bits. The storage cabin box comprises a box plate structure and a stand column frame structure, wherein a first chute is arranged on the stand column frame structure and is connected with the unmanned aerial vehicle transfer platform module. The storage upright post fixing mode is as follows: the storage upright post base is fixedly connected with the foundation iron or the storage foundation position is directly connected with the chassis girder of the truck, so that the storage foundation is stable, and the deformation of the truck girder in all directions generated in the running process is required to be less than +/-3 mm, so that the storage structure is stable and reliable. The storage adopts a multi-layer bending structure as an upright post, and the welding structural steel is used for transverse connection. To ensure that the storage height of each layer meets the clearance requirement, the storage beams are designed by referring to bracket beams. The unmanned aerial vehicle subsystem is suspended and lapped on the bracket beam. Meanwhile, in order to ensure the stability of the whole storage structure, the elastic deformation is reduced on a bumpy road surface, and diagonal draw bars are added on the side surfaces as much as possible. Finally, in order to reduce the weight of the whole structure, the storage structure is light-weighted by adopting a finite element analysis method, and the design is optimized, so that the structure is more reasonable, namely, the structure has enough rigidity and strength, and is convenient for field transportation. Each parking position is provided with 1 unmanned aerial vehicle subsystem electric control fixing system and monitoring system, so that the unmanned aerial vehicle subsystem can be fully ensured to be firm enough when placed on the parking position, and an alarm prompt is provided when the fixing position is abnormal. Each storage area is provided with left and right 2 sliding rails and end stop blocks, so that the unmanned aerial vehicle carrying unmanned aerial vehicle subsystem can be accurately placed in place.
In the above embodiments, the aircraft pallet is relayed by the pallet slide drive and the towing mechanism to tow the aircraft pallet onto the transfer support or to send the unmanned aerial vehicle onto the storage cargo space. And each aircraft supporting plate is provided with 1 set of aircraft positioning adjusting piece, and when the unmanned aerial vehicle is at the locking position of the unmanned aerial vehicle subsystem, the aircraft positioning adjusting piece locks the landing gear of the unmanned aerial vehicle so as to stabilize the unmanned aerial vehicle.
In the above embodiment, each storage unit of the unmanned aerial vehicle is designed with a 200 (L) x 85 (W) x 50 (H) (mm) space for accommodating the wireless charging device, and the space periphery is made of insulating material, so as to avoid increasing wireless charging loss.
In the embodiment, 4 hanging points are designed on each aircraft supporting plate and used for hanging mechanisms on the lifting transplanting machine to transversely move the unmanned aerial vehicle subsystem to enter and exit the cargo space, so that the unmanned aerial vehicle is stable and reliable. The alignment mechanism is used for horizontally approaching to a target cargo space, so that the hooking mechanism on the transfer lifting platform can hook the bottom hanging hole of the unmanned aerial vehicle storage unit; the aircraft positioning adjusting piece is used for correcting the unmanned aerial vehicle which lands and parks on the unmanned aerial vehicle storage unit, so that the unmanned aerial vehicle parks on the appointed unmanned aerial vehicle storage unit position, and the aircraft positioning adjusting piece is convenient to lock; the airplane positioning adjusting piece is used for locking the unmanned aerial vehicle to ensure that the unmanned aerial vehicle cannot move in the transportation process so as to avoid collision danger; the vertical lifting driving piece pulls the transfer supporting piece to move up and down, and the designated position positioning is completed.
In the embodiment, the dragging mechanism adopts a double-side transmission belt type dragging-out and sliding rail guiding system, so that stable and reliable operation is ensured. The alignment device after the aircraft supporting plate is towed out adopts a motor, a lead screw and a linear guide rail to drive a transfer hooking mechanism to butt-joint a parking position, so that the unmanned aerial vehicle storage unit is towed out/towed into the parking position. The lifting device of the vertical lifting driving piece adopts a bottom fixed motor and a screw rod for transmission lifting, so that the lifting speed is ensured, and meanwhile, the lifting position can be accurately controlled. The embodiment further comprises a position correction mechanism, wherein the position correction mechanism adopts a two-dimensional four-way electric correction mechanism, is provided with a correction in-place detection sensor, and fully ensures the correct fixed position of the unmanned aerial vehicle and ensures the safety. The overturning driving piece is respectively provided with 1 overturning oil cylinder at two sides of the lifting transfer platform, and the stroke of the oil cylinders can meet the overturning of the overturning platform within the range of 0-90 degrees.
In the above embodiment, the pulling-out speed of the plane pallet is 0-0.4 m/s (the speed is adjustable), and the lifting speed of the transfer support is 0-0.4 m/s (the speed is adjustable). The deviation correcting speed of the airplane positioning adjusting piece is 0-0.08 m/s (the speed is adjustable).
According to another aspect of the present invention, there is also provided a control method of a unmanned aerial vehicle library for lifting transfer, including the steps of:
S1, receiving a take-off instruction of a target unmanned aerial vehicle, and controlling a garage door of a storage cabin box body 1 where the target unmanned aerial vehicle is positioned to be opened;
s2, controlling the overturning driving piece 32 to drive the transfer supporting piece 31 to overturn to a horizontal position, and then controlling the vertical lifting driving piece 33 to move the transfer supporting piece 31 to a position where the plane supporting plate 21 where the target unmanned aerial vehicle is positioned is flush;
s3, controlling a pallet sliding driving piece 23 to drive the airplane pallet 21 to transversely move along the storage cabin box body 1, so that the airplane pallet 21 is transferred out of the storage cabin box body 1, and simultaneously, driving a dragging mechanism 34 to act, so that the dragging mechanism 34 drags the airplane pallet 21 onto a transfer supporting piece 31, and enabling an airplane positioning adjusting piece 22 to unlock a target unmanned aerial vehicle to take off and execute tasks;
s4, after the target unmanned aerial vehicle flies back, the target unmanned aerial vehicle stops on the airplane support plate 21, and the airplane positioning adjusting piece 22 adjusts the position of the target unmanned aerial vehicle so that the target unmanned aerial vehicle stopping position corresponds to the position of the electromagnetic charging module, and the electromagnetic charging module is started to charge the target unmanned aerial vehicle;
s5 the pallet slide drive 23 drives the lateral movement of the aircraft pallet 21 along the storage compartment housing 1 such that the aircraft pallet 21 moves into the storage compartment housing 1, while the pallet slide drive 23 drives the lateral movement of the aircraft pallet 21 along the storage compartment housing 1 until it returns to the original position.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The unmanned aerial vehicle library system for lifting and transferring is characterized by comprising a storage cabin box body (1), an unmanned aerial vehicle storage module (2), an unmanned aerial vehicle transferring platform module (3) and an electromagnetic charging module, wherein,
the storage cabin box body (1) comprises a box body (13), a frame body (11) and an upright post (12) which are fixedly arranged on a truck chassis girder, wherein the frame body (11) is arranged in the box body (13), and the upright post (12) is arranged at a warehouse door of the box body (13);
the unmanned aerial vehicle storage modules are arranged in an array manner in the frame body (11), each unmanned aerial vehicle storage module comprises an aircraft supporting plate (21), a supporting plate sliding driving piece (23) and an aircraft positioning adjusting piece (22), the aircraft supporting plates (21) are movably arranged on the frame body (11), the supporting plate sliding driving pieces (23) are connected with the aircraft supporting plates (21) and used for driving the aircraft supporting plates (21) to transversely move along the storage cabin box body (1), and the aircraft positioning adjusting pieces (22) are arranged on the aircraft supporting plates (21) and used for adjusting the positions of unmanned aerial vehicles so that the parking positions of the unmanned aerial vehicles correspond to the positions of the electromagnetic charging modules;
The unmanned aerial vehicle load-carrying platform module (3) comprises a load-carrying support (31), a turnover driving piece (32), a vertical lifting driving piece (33) and a dragging mechanism (34), wherein the load-carrying support (31) is movably connected with the upright (12), the turnover driving piece (32) is hinged with the load-carrying support (31) and is used for driving the load-carrying support (31) to rotate along a hinging point, the vertical lifting driving piece (33) is connected with the load-carrying support (31) and is used for driving the load-carrying support (31) to move along the upright (12) when the load-carrying support (31) is in a horizontal state, so that the load-carrying support (31) is flush with a corresponding aircraft supporting plate (21), and the dragging mechanism (34) is fixedly arranged on the load-carrying support (31) and is used for carrying the aircraft supporting plate (21) to the load-carrying support (31);
the electromagnetic charging module is arranged on the airplane support plate (21) and is used for wirelessly charging the unmanned aerial vehicle when the unmanned aerial vehicle is parked on the airplane support plate (21).
2. The unmanned aerial vehicle library system for lifting and transferring according to claim 1, further comprising a control module, wherein the control module is in communication connection with the unmanned aerial vehicle storage module (2), the unmanned aerial vehicle transferring platform module (3) and the electromagnetic charging module, and is used for controlling the cooperative work of the unmanned aerial vehicle storage module (2), the unmanned aerial vehicle transferring platform module (3) and the electromagnetic charging module.
3. The unmanned aerial vehicle library system for lifting and transferring according to claim 2, wherein the electromagnetic charging module comprises a transmitting unit and a receiving unit,
the transmitting unit is fixedly arranged on the aircraft supporting plate (21) and comprises a transmitting end converter and a transmitting coil which are sequentially connected;
the receiving unit is arranged on the unmanned aerial vehicle and comprises a receiving coil and a receiving end converter which are sequentially connected;
the control module controls the transmitting end converter to electrify the transmitting coil, the receiving coil induces a high-frequency strong magnetic field formed by the transmitting coil, and the high-frequency strong magnetic field is induced, rectified and filtered by the receiving end converter to be the charging voltage required by the unmanned aerial vehicle battery.
4. A lifting and transfer unmanned aerial vehicle warehouse system according to claim 2, wherein the pallet sliding drive (23) comprises a first driving motor assembly (231), a first driving wheel, a first rotating shaft, a first driving belt (232), a first driven wheel (233) and a second rotating shaft (234), wherein the power output shaft of the first driving motor assembly (231) is connected with the first rotating shaft, the first rotating shaft is connected with the first driving wheel, the first driven wheels (233) are provided with a plurality of wheels and are all arranged at the bottom of the aircraft pallet (21), each first driven wheel (233) is connected with one second rotating shaft (234), one first driven wheel (233) adjacent to the first driving wheel and two first driven wheels (233) adjacent to the first driving wheel are in transmission connection through the first driving belt (232), and the first driving motor assembly (231) is in communication connection with a control module, in this way, the first driven wheels (233) are driven by the first driving motor assembly (231) to rotate, so that the first driven wheels (233) can move along the transverse direction of the pallet (21).
5. The unmanned aerial vehicle warehouse system for lifting and transferring according to claim 2, wherein the aircraft positioning adjusting piece (22) comprises a first adjusting plate, a second adjusting plate, an adjusting driving motor and an adjusting slideway, the first adjusting plate and the second adjusting plate are arranged transversely along the storage cabin box body (1), the adjusting slideway is arranged on the aircraft supporting plate (21) longitudinally along the storage cabin box body (1), the adjusting driving motor is in communication connection with the control module, and the first adjusting plate and the second adjusting plate are both movably connected with the adjusting slideway and move along the adjusting slideway under the driving action of the adjusting driving motor so as to adjust the position of the unmanned aerial vehicle parked on the aircraft supporting plate (21).
6. A lifting and transferring unmanned aerial vehicle warehouse system according to claim 2, wherein the turning driving member (32) comprises a lifting connection plate (341), a rotation plate (342) and a hydraulic rod assembly (343), the lifting connection plate (341) is connected with the upright (12), one end of the rotation plate (342) is rotatably connected with the lifting connection plate (341), the other end is rotatably connected with the bottom end of the transferring and transferring support member (31), one end of the hydraulic rod assembly (343) is rotatably connected with the lifting connection plate (341), and the other end is connected with the middle part of the transferring and transferring support member (31), in such a way that the transferring and transferring support member (31) is rotatably turned over by taking the lifting connection plate (341) as a hinge point.
7. The unmanned aerial vehicle system for lifting and transferring according to claim 6, wherein the vertical lifting driving member (33) comprises a speed reduction driving assembly, a screw nut, a sliding block and a sliding rail, the speed reduction driving assembly is connected with the screw assembly through a speed reduction rotation shaft, the screw nut is arranged on the screw assembly, the screw assembly is arranged in parallel with the upright post (12), one side of the sliding block is fixedly connected with the screw nut, the other side of the sliding block is in sliding connection with the sliding rail, the sliding block is fixedly connected with the lifting connection plate (341), and the sliding rail is arranged on the upright post (12), in this way, the screw nut is driven to do linear motion along the screw assembly through the speed reduction driving assembly, so as to drive the lifting connection plate (341) to do linear motion.
8. The lift transfer unmanned aerial vehicle warehouse system according to claim 4, wherein the drawing mechanism (34) comprises a second driving motor assembly, a second driving wheel, a third rotating shaft, a second transmission belt, a second driven wheel and a fourth rotating shaft, wherein a power output shaft of the second driving motor assembly is connected with the third rotating shaft, the second rotating shaft (234) is connected with the second driving wheel, a plurality of second driven wheels are arranged at the bottom of the plane support plate (21), each second driven wheel is connected with one fourth rotating shaft, one second driven wheel adjacent to the second driving wheel and two second driven wheels adjacent to the second driving wheel are in transmission connection through the second transmission belt, and the second driving motor assembly is in communication connection with the control module, in this way, the second driving wheel is driven to rotate through the second driving motor assembly so as to drive the second driven wheel to rotate, so that the plane support plate (21) moves transversely along the transfer support member (31).
9. The unmanned aerial vehicle warehouse system for lifting and transferring according to claim 1, wherein the frame body (11) is further provided with a first dragging groove which is symmetrically arranged at two sides of the plane supporting plate (21) along the longitudinal direction of the storage cabin box body (1), and a plurality of rolling wheels are arranged at the connecting surface of the plane supporting plate (21) and the first dragging groove;
the transfer support piece (31) is provided with a second dragging groove which is symmetrically arranged on two sides of the airplane support plate (21) along the longitudinal direction of the storage cabin box body (1).
10. A method for controlling a lifting and transferring unmanned aerial vehicle library, which is realized by adopting the unmanned aerial vehicle library system for lifting and transferring according to any one of claims 1 to 9, and is characterized by comprising the following steps:
s1, receiving a take-off instruction of a target unmanned aerial vehicle, and controlling a garage door of a storage cabin box body (1) where the target unmanned aerial vehicle is positioned to be opened;
s2, controlling a turnover driving piece (32) to drive a transfer supporting piece (31) to turn to a horizontal position, and then controlling a vertical lifting driving piece (33) to move the transfer supporting piece (31) to a position where an airplane pallet (21) where a target unmanned aerial vehicle is positioned is flush;
s3, controlling a pallet sliding driving piece (23) to drive the airplane pallet (21) to transversely move along the storage cabin box body (1), so that the airplane pallet (21) is transferred out of the storage cabin box body (1), meanwhile, driving a dragging mechanism (34) to act, enabling the dragging mechanism (34) to drag the airplane pallet (21) onto a transfer supporting piece (31), and unlocking a target unmanned aerial vehicle by an airplane positioning adjusting piece (22), wherein the target unmanned aerial vehicle takes off and executes a task;
S4, after the target unmanned aerial vehicle flies back, the target unmanned aerial vehicle stops on an airplane supporting plate (21), and an airplane positioning adjusting piece (22) adjusts the position of the target unmanned aerial vehicle, so that the position where the target unmanned aerial vehicle stops corresponds to the position of the electromagnetic charging module, and the electromagnetic charging module is started to charge the target unmanned aerial vehicle;
s5 the pallet sliding driving piece (23) drives the airplane pallet (21) to move transversely along the storage cabin box body (1) so that the airplane pallet (21) moves into the storage cabin box body (1), and meanwhile, the pallet sliding driving piece (23) drives the airplane pallet (21) to move transversely along the storage cabin box body (1) until returning to the initial position.
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