CN114801963A - Air-ground integrated mobile investigation platform - Google Patents
Air-ground integrated mobile investigation platform Download PDFInfo
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- 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
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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
- B60L53/14—Conductive 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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
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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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
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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
- B60L53/60—Monitoring or controlling charging stations
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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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
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Abstract
The invention provides an air-ground integrated mobile investigation platform, which comprises a ground investigation vehicle, an unmanned aerial vehicle, a vehicle-mounted general module and an unmanned aerial vehicle general module; the ground detection vehicle is used for bearing the unmanned aerial vehicle, the vehicle-mounted main module and the unmanned aerial vehicle main module; the vehicle-mounted general module is integrated on a ground investigation vehicle, and the unmanned aerial vehicle general module is integrated on an unmanned aerial vehicle; the vehicle-mounted general module comprises a vehicle-mounted charging module, and the vehicle-mounted charging module charges the vehicle-mounted charging module through a generator of the ground investigation vehicle; the unmanned aerial vehicle total module is including the airborne module that charges that provides the power for unmanned aerial vehicle, and on-vehicle module of charging charges through the contact mode of charging to the airborne module of charging, realizes unmanned aerial vehicle is in charge on the ground investigation car. The method effectively meets the task requirements of long-time, large-range and high-precision detection and search, investigation and identification and the like on the target under various complex environmental conditions.
Description
Technical Field
The invention relates to the technical field of investigation, in particular to an air-ground integrated mobile investigation platform.
Background
The border line of China is long, and the number of the countries is large. In recent years, along with the development of unmanned aerial vehicle technology and the reduction of technical threshold, the low-speed little invasion problem of border is gradually outstanding. In the border reconnaissance application, be subject to small-size reconnaissance unmanned aerial vehicle duration, operating time is short, and the reconnaissance scope is little. The unmanned aerial vehicle charge time who uses the battery as the power supply is longer at present, has greatly retrained unmanned aerial vehicle's operating efficiency. In border investigation, small-size reconnaissance unmanned aerial vehicle's electric quantity has two kinds of means, firstly need return the fixed site and charge, and the road is far away, delays reconnaissance work and goes on, secondly carries the polylith battery to change, because the unmanned aerial vehicle battery is heavier, and is great to people's burden. The problem of battery energy supplement brings great difficulty to the reconnaissance and monitoring work of the low and slow small targets in the border.
For example, the invention has the characteristics of wide area reconnaissance in the air and ground cluster type fine reconnaissance in the Chinese patent with the application number of 202010119281.8 and the publication number of composite reconnaissance system of a flight reconnaissance robot and a multi-spherical mobile reconnaissance robot of 6, 12 and 2020. However, the multi-spherical mobile reconnaissance robot severely limits the range of aerial reconnaissance due to large mass. And the multi-spherical mobile reconnaissance robot carrying the energy device is bound to be smaller, and the time for supporting the reconnaissance robot to carry out the reconnaissance task is bound to be short.
Disclosure of Invention
The present invention is directed to solving the above problems, and an object of the present invention is to provide an air-ground integrated mobile detection platform that is convenient for charging.
In order to achieve the purpose, the invention adopts the following specific technical scheme:
the air-ground integrated mobile investigation platform comprises a ground investigation vehicle, an unmanned aerial vehicle, a vehicle-mounted general module and an unmanned aerial vehicle general module;
the ground detection vehicle is used for bearing the unmanned aerial vehicle, the vehicle-mounted general module and the unmanned aerial vehicle general module;
the vehicle-mounted general module is integrated on a ground investigation vehicle, and the unmanned aerial vehicle general module is integrated on an unmanned aerial vehicle;
the vehicle-mounted general module comprises a vehicle-mounted charging module, and the vehicle-mounted charging module charges the vehicle-mounted charging module through a generator of the ground investigation vehicle;
the unmanned aerial vehicle main module comprises an airborne charging module for providing power for the unmanned aerial vehicle, and the airborne charging module is charged by the vehicle-mounted charging module through a contact charging method, so that the ground detection vehicle can charge the unmanned aerial vehicle.
Further, the vehicle-mounted charging module comprises a generator, a rectifying module, a charging platform and a clamping device;
the generator is used for outputting alternating current;
the rectification module is used for rectifying the output alternating current into direct current and outputting the direct current to the charging platform;
the charging platform is coated with a positive pole mark and a negative pole mark;
the clamping device is used for clamping the airborne charging module in a charging state.
Furthermore, the airborne charging module comprises a charging frame, a positive pole pin, a negative pole pin, a battery, a positive charging wire and a negative charging wire;
the positive electrode pin and the negative electrode pin are used as landing gears and are made of conductive materials;
one end of the positive charging wire is connected with a positive pin of the charging frame, and the other end of the positive charging wire is connected with the positive electrode of the battery;
the negative pole foot of charging frame is connected to the one end of negative pole charging wire, and the negative pole of battery is connected to the other end of negative pole charging wire.
Further, the unmanned aerial vehicle module also comprises an airborne visual guidance module, and the airborne visual guidance module comprises an image processing board and two visible light cameras;
the two visible light cameras form a binocular vision system for identifying visual information of the positive pole mark and the negative pole mark on the charging platform of the vehicle-mounted charging module, and the image processing board calculates the relative positions and posture information of the positive pole mark and the negative pole mark to the unmanned aerial vehicle module according to the visual information;
the unmanned aerial vehicle total module makes the anodal foot fall on anodal sign department according to relative position and attitude information adjustment unmanned aerial vehicle descending gesture and position, makes the negative pole foot fall on negative pole sign department.
Furthermore, the charging platform comprises a positive guide groove, a negative guide groove, a positive charging area, a negative charging area, a voltage reduction module and a charging platform body; the positive guide groove and the negative guide groove are respectively positioned at two sides of the charging table body, one side of the positive guide groove is provided with a positive charging area, and one side of the negative guide groove is provided with a negative charging area; the voltage reduction module is installed on one side of the charging platform body and used for changing the voltage of the charging platform into the charging voltage required by the unmanned aerial vehicle battery.
Further, the positive charging area and the negative charging area are provided with charging contacts, and the charging contacts are connected with a charging frame of the unmanned aerial vehicle.
Furthermore, the clamping device comprises a positioning mechanism which is respectively arranged in the anode guide groove and the cathode guide groove; the positioning mechanism comprises an X-axis sliding assembly and a Y-axis sliding assembly;
the X-axis sliding assembly is respectively arranged in the positive guide groove and the negative guide groove; the Y-axis sliding assembly is arranged above the X-axis sliding assembly and is connected with the X-axis sliding assembly in a sliding manner.
Further, the X-axis slide assembly includes: the first motor is arranged on the X-axis guide rail and used for driving the Y-axis sliding assembly to move along the X-axis direction;
the Y-axis slide assembly includes: the second motor is installed on the Y-axis guide rail and used for driving the sliding block to move along the Y-axis direction.
Furthermore, the clamping device also comprises a locking mechanism, and the locking mechanism comprises a steering engine, a locking block, a spring and an adjusting handle; the steering engine and the locking block are respectively arranged on a sliding block of the Y-axis sliding component; the locking block is made of an insulating elastic material; the adjusting handle is installed on the locking block, the spring is located between the adjusting handle and the locking block, and the spring is used for increasing the rigidity of the locking block.
Further, the vehicle-mounted general module comprises a vehicle-mounted detection module, a vehicle-mounted communication module, a vehicle-mounted data processing module and a vehicle-mounted charging module;
the unmanned aerial vehicle module comprises an airborne data processing module, an airborne detection module, an airborne communication module and an airborne charging module;
the vehicle-mounted communication module is communicated with the airborne communication module, and the vehicle-mounted communication module is used as a transfer station for receiving and forwarding commands given by the control center;
the vehicle-mounted detection module comprises a radar and a photoelectric theodolite and is used for reconnaissance and tracking of the target;
the airborne detection module is used for detecting and tracking a target;
the vehicle-mounted data processing module processes target information respectively acquired by the vehicle-mounted detection module and the airborne detection module, and sends tracking instructions to the vehicle-mounted detection module and the airborne detection module respectively;
the airborne data processing module is used for adjusting the posture and the position of the unmanned aerial vehicle module during descending.
The invention can obtain the following technical effects:
the air-ground integrated mobile investigation platform has the advantages of wide monitoring range, high positioning precision and flexibility, the unmanned aerial vehicle module has vertical take-off and landing capability, and the ground investigation vehicle can guide the unmanned aerial vehicle to vertically land and charge the unmanned aerial vehicle module in a contact manner, so that the investigation range is greatly expanded. The method effectively meets the task requirements of long-time, large-range and high-precision detection and search, investigation and identification and the like on the target under various complex environmental conditions.
Drawings
FIG. 1 is a schematic structural diagram of an air-ground integrated mobile investigation platform disclosed by the invention;
fig. 2 is a schematic structural diagram of a general module of the unmanned aerial vehicle disclosed in the present invention;
FIG. 3 is a schematic diagram of an overall structure of the vehicle-mounted charging module disclosed in the present invention;
FIG. 4 is a schematic structural diagram of a vehicle charging module disclosed in the present invention;
FIG. 5 is a schematic structural diagram of a charging platform according to the present disclosure;
FIG. 6 is a schematic structural diagram of a positioning mechanism disclosed in the present invention;
fig. 7 is a schematic structural diagram of the locking mechanism disclosed by the invention.
Reference numerals:
the system comprises a ground detection vehicle 1, a vehicle-mounted detection module 101, a vehicle-mounted communication module 102, a vehicle-mounted data processing module 103, a vehicle-mounted charging module 104, a radar 1011, a photoelectric theodolite 1012, a generator 1041, a rectifying module 1042, a voltage transformation module 1043, a charging platform 1044, a clamping device 1045, an unmanned aerial vehicle general module 2, a vehicle-mounted data processing module 201, a vehicle-mounted communication module 202, a vehicle-mounted charging module 204, a vehicle-mounted visual guidance module 206, an anode pin 2041, a cathode pin 2042, a battery 2043, a battery management module 2044, an anode charging wire 2045, a cathode charging wire 2046, a first visible light camera 2051 and a second visible light camera 2052;
the charging device comprises a positive guide groove 1201, a negative guide groove 1202, a positive charging area 1203, a negative charging area 1204, a voltage reduction module 1205, a charging table body 1206, a positioning mechanism 130, a monocular camera 1301, an X-axis guide rail 1302, a Y-axis guide rail 1303, a sliding block 1304, a first motor 1305, a second motor 1306, a locking mechanism 140, a steering engine 1401, a locking block 1402, a spring 1403 and an adjusting handle 1404.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The air-ground integrated mobile investigation platform shown in fig. 1 comprises a ground investigation vehicle 1, an unmanned aerial vehicle, a vehicle-mounted general module and an unmanned aerial vehicle general module;
the ground investigation vehicle 1 is used for bearing the unmanned aerial vehicle, the vehicle-mounted general module and the unmanned aerial vehicle general module;
the vehicle-mounted general module is integrated on the ground investigation vehicle 1, and the unmanned aerial vehicle general module is integrated on the unmanned aerial vehicle;
the vehicle-mounted general module comprises a vehicle-mounted charging module, the vehicle-mounted charging module comprises a generator, and the generator is driven by an engine of the ground investigation vehicle 1;
as shown in fig. 2, the main module of the unmanned aerial vehicle includes an onboard charging module for providing power to the unmanned aerial vehicle, and the onboard charging module is charged by the onboard charging module through a contact charging method, so that the charging of the unmanned aerial vehicle on the ground investigation vehicle 1 is realized. The general unmanned aerial vehicle module 2 carries an airborne data processing module 201, an airborne communication module 202, an airborne charging module 204, an airborne detection module and an airborne visual guidance module 206. The unmanned aerial vehicle main module 2 has vertical take-off and landing capability and can carry out small-range accurate reconnaissance tasks.
The ground investigation vehicle 1 is used as a mobile platform for bearing a vehicle-mounted main module, and the ground investigation vehicle 1 can be rapidly deployed to an investigation area and is flexible.
Compared with the prior art, this reconnaissance platform is surveyed, is fixed a position and is trailed in coordination through ground investigation car 1 and unmanned aerial vehicle, and ground investigation car 1 can charge unmanned aerial vehicle, has greatly promoted investigation scope and investigation efficiency.
Specifically, the vehicle-mounted general module comprises a vehicle-mounted detection module, a vehicle-mounted communication module, a vehicle-mounted data processing module and a vehicle-mounted charging module; the ground detection vehicle 1 carries a vehicle-mounted detection module, a vehicle-mounted communication module 102, a vehicle-mounted data processing module 103, a vehicle-mounted charging module 104, and carries one or more unmanned aerial vehicle general modules 2. The vehicle-mounted detection module comprises a radar 1011 and a photoelectric theodolite 1012 for executing a large-scale investigation operation. The vehicle-mounted general module and the ground investigation vehicle 1 carry out ground investigation; the unmanned aerial vehicle main module and the unmanned aerial vehicle carry out aerial reconnaissance.
Specifically, the vehicle-mounted communication module is in communication with an onboard communication module, which is described later, and the vehicle-mounted communication module serves as a transfer station for receiving and forwarding commands given by the control center. The vehicle-mounted communication module comprises a modulation and demodulation chip, a power amplification chip, a signal processing chip, a power supply chip and an antenna end. An exemplary modem chip may be selected as a Semtech SX1278 device; the power amplification chip can be selected from BUF634A chip of TI company; the signal processing chip can adopt an STM32F103 device; the power chip may alternatively be a MIC35302WD device. The power supply chip is responsible for rectification and voltage transformation and supplies power for the vehicle-mounted communication module. When the vehicle-mounted communication module receives signals, the antenna end receives the signals of the vehicle-mounted communication module, transmits the signals to the modulation and demodulation chip for decoding, and transmits the decoded signals to the STM32F103 signal processing chip for data processing. When the vehicle-mounted communication module needs to send data, the signal processing chip receives the data of the vehicle-mounted data processing module, forwards the data to the modulation and demodulation chip for coding, and then sends a signal to the vehicle-mounted communication module through the antenna end after power amplification is carried out through the power amplification chip.
Specifically, the vehicle-mounted data processing module comprises a digital signal processing chip, a power supply chip and a digital signal co-processing chip, wherein the digital signal processing chip can be selected as TMS320F 28335; the power chip can be selected as MIC35302 WD; the digital signal co-processing chip can be selected as STM32F 103. The digital signal processing chip is responsible for performing tasks such as filtering, attitude resolving and state estimation on data, the digital signal co-processing chip is responsible for tasks such as simple data operation, and the power supply chip is responsible for rectifying and transforming and supplies power for the vehicle-mounted data processing module.
Specifically, the vehicle-mounted detection module comprises a radar and a photoelectric theodolite, and the vehicle-mounted detection module is arranged on the vehicle. The radar and the photoelectric theodolite can be used for reconnaissance and tracking of targets in a large-range area.
Specifically, the vehicle-mounted data processing module processes target information acquired by the radar, the photoelectric theodolite and the airborne detection module, performs three-dimensional detection on a target, and outputs a tracking instruction to the radar, the photoelectric theodolite and the airborne data processing module; the detection is realized by a vehicle-mounted detection module, and a vehicle-mounted data processing module performs data calculation according to image information returned by the vehicle-mounted detection module to obtain a target three-dimensional position;
the unmanned aerial vehicle general module comprises an airborne data processing module, an airborne detection module, an airborne communication module and an airborne charging module;
the airborne detection module is used for reconnaissance and tracking of a target ， And carrying out fine reconnaissance and tracking on the target. The airborne detection module comprises a binocular camera, which can be a visible light binocular camera or an infrared binocular camera. The airborne detection module and the vehicle-mounted detection module have the same detection function, but are wider in range and higher in precision.
And the airborne data processing module performs data calculation according to the image information returned by the airborne detection module to obtain the three-dimensional position of the target.
The airborne data processing module is used for adjusting the posture and the position of the unmanned aerial vehicle main module during descending. The airborne detection module is used for carrying out accurate target reconnaissance and tracking on a small-range area, comprises an even number of visible light cameras, is used for carrying out target reconnaissance, positioning and tracking on a large-range area, and comprises an even number of visible light cameras. For example, the first visible light camera 2051 and the second visible light camera 2052 form a group of binocular systems, each group of binocular systems can perform three-dimensional positioning on a detected target, and can also transmit a target image to the vehicle-mounted data processing module 103 through the vehicle-mounted communication module 202.
As shown in fig. 3, the vehicle-mounted charging module 104 includes a generator 1041, a rectifying module 1042, a transforming module 1043, a charging platform 1044, and a clamping device 1045. The generator 1041 is driven by a vehicle-mounted engine and is disposed at the rear part of the engine compartment of the vehicle-mounted engine 1, alternating current output by the generator 1041 is converted into direct current with desired voltage through the rectifying module 1042 and the transforming module 1043 and is input to the charging platform 1044, and the charging platform 1044 supplies power to the vehicle-mounted charging module 204. Charging platform 1044 is painted with positive and negative signs to assist the airborne vision guidance module in guiding the accurate landing of the unmanned aerial vehicle. Clamping device 1045 is used for pressing from both sides anodal foot and the negative pole foot that the machine carries the module of charging, and when the unmanned aerial vehicle total module did not descend, clamping device 1045 is in the state of withdrawing, and after the unmanned aerial vehicle total module descended, clamping device 1045 stretched out, prevented to carry the car when removing that the unmanned aerial vehicle total module acutely rocks and then influences the effect of charging. The clamping device is made of an insulating material.
The onboard charging module comprises an onboard charging module including a charging rack, a positive pole pin 2041, a negative pole pin 2042, a battery 2043, a battery management module 2044, a positive pole charging wire 2045 and a negative pole charging wire 2046. The positive electrode leg 2041 and the negative electrode leg 2042 serve as a landing frame at the same time and are made of a conductive material. One end of the positive charging wire 2044 is connected to the positive pin 2041 of the charging rack, the other end is connected to the positive electrode of the battery 2043, one end of the other negative charging wire 2046 is connected to the negative pin 2042 of the charging rack, and the other end is connected to the negative electrode of the battery 2043. The battery management module 2044 is responsible for detecting whether the vehicle-mounted charging module 104 is connected with the vehicle-mounted charging module 204, if so, charging is started, otherwise, the open circuit state is kept; and meanwhile, the charging time of the battery is managed, and the battery overshoot is prevented. The battery management module 2044 feeds back the charging information to the on-board charging module 104 and the on-board charging module 204 in real time, so as to calculate the time that the electric quantity of the battery can support the reconnaissance mission.
In particular, fig. 4 shows a vehicle-mounted drone charging module. As shown in fig. 4, the charging platform 1044 may be fixedly installed above the ground detection vehicle through a vibration damping device in the prior art, so as to isolate the influence of vibration generated by the ground detection vehicle when moving on the charging platform 1044, and ensure that the charging platform 1044 is in a horizontal state.
Preferably, the vibration damper comprises a plurality of upper connecting plates, a plurality of lower connecting plates and a plurality of supporting columns. The number of the upper connecting plates and the number of the supporting columns are the same, and 4 upper connecting plates and 4 supporting columns are schematically shown. The lower connecting plate is installed on ground investigation car, and the even installation of support column is on the lower connecting plate, and the upper junction plate is installed to the upper end of support column. The support column adopts a small hydraulic cylinder to realize stepless regulation of height. And a charging platform 1044 is arranged above the upper connecting plate.
Fig. 3-5 illustrate the structure of the charging platform. As shown in fig. 5, the charging platform 1044 includes a positive guide channel 1201, a negative guide channel 1202, a positive charging region 1203, a negative charging region 1204, a voltage step-down module 1205, and a charging stand body 1206. The positive pole mark and the negative pole mark are preferably provided on the charging stand body 1206.
The positive guide groove 1201 and the negative guide groove 1202 are respectively positioned on two sides of the charging stand body 1206, a positive charging area 1203 is arranged on the left side of the positive guide groove 1201, and a negative charging area 1204 is arranged on the right side of the negative guide groove 1201; the positive charging area 1203 and the negative charging area 1204 are both provided with positive and negative charging marks for guiding the unmanned aerial vehicle to land by adopting a visual scheme. The positive charging area 1203 and the negative charging area 1204 are provided with strip-shaped charging contacts to be connected with a charging frame of the unmanned aerial vehicle. Step-down module 1205 is installed on one side of the charging stand body 206 for changing the dc voltage generated by the generator to the charging voltage required by the unmanned aerial vehicle battery. The types of the voltage reduction module can be selected as follows: LM2596S DC-DC.
Preferably, the vehicle-mounted unmanned aerial vehicle charging module further comprises a controller, the clamping device 1045 comprises a positioning mechanism 130 and a locking mechanism 140, and the positioning mechanism 130 is respectively installed in the positive guide groove 1202 and the negative guide groove 1203 of the charging platform.
As shown in fig. 6, the positioning mechanism 130 includes a monocular camera 1301, an X-axis slide assembly, and a Y-axis slide assembly. The X-axis slide assembly includes an X-axis guide 1302, a first motor 1305, and the Y-axis slide assembly includes a Y-axis guide 1303, a second motor 1306, and a slide block 1304. The positioning mechanism 130 is a two-dimensional motion mechanism, see prior art. The following configuration is preferably adopted.
The locking mechanism 140 is mounted on the Y-axis guide 1303 of the positioning mechanism. As shown in fig. 7, the locking mechanism includes a steering engine 1401, a locking block 1402, a spring 1403, and an adjustment handle 1404. Steering wheel 1401 and latch segment 1402 install respectively on sliding block 1304, according to the charging frame size of different unmanned aerial vehicles, the locking degree of latch segment 1402 is adjusted to the accessible manual regulation adjustment handle 1404. The locking block 1402 is an insulating resilient material. A spring 1403 is mounted between the adjustment handle 1404 and the locking block 1402, the spring 1403 being used to increase the stiffness of the locking block. An adjustment handle 1404 is mounted at a threaded hole of the locking block 1402, and the gap of the locking block 1402 can be adjusted by screwing the adjustment handle 404 to accommodate charging racks of different sizes.
The controller is integrated with an acceleration sensor and an angular velocity sensor and used for sensing the change of the vehicle posture. The controller is mounted on the lower connection plate 1102 of the stabilization platform. The working process is as follows: when ground investigation car stopped, descend on the platform that charges, the controller signals makes monocular camera 1301 scan along X axle guide rail 1302, and when scanning unmanned aerial vehicle's charging frame, sliding block 1304 removes along Y axle guide rail 1303, and when removing suitable position, controller control steering wheel 401 is rotatory, and steering wheel 1401 rotatory drive latch segment 1402 rotates, locks the unmanned aerial vehicle charging frame. When the ground detection vehicle is changed from a traveling state to a stop state, the steering engine 1401 rotates, the locking block 1402 is rotated back, and the charging frame of the unmanned aerial vehicle is unlocked; when the ground investigation vehicle is changed from the stop state to the advance state again, the controller detects the signal change of the acceleration sensor, controls the steering wheel 1401 to rotate, rotates out of the locking block 1402, and locks the unmanned aerial vehicle charging frame.
The air-ground integrated mobile detection platform provided by the invention can detect, position and track a large-range detection area by combining the vehicle-mounted detection module and the airborne detection module, and has the advantages of wide monitoring range, high positioning precision and flexible response. The unmanned aerial vehicle main module has the vertical take-off and landing and high-speed level flight capability at the same time, and the detection mode is flexible and efficient. The ground reconnaissance vehicle can be large in size and carry more energy by adopting the air-to-ground thinking, and the energy is conveniently supplied for the aerial reconnaissance platform. The ground detection platform completes coarse detection, the aerial detection platform performs fine detection, the aerial detection platform also has vertical take-off and landing capability, can be charged on a vehicle, can be operated for multiple times, and is long in operation time and wide in detection range.
Preferably, the unmanned aerial vehicle main module further comprises an airborne vision guiding module, and the airborne vision guiding module comprises two visible light cameras and an image processing board. Two visible light units form binocular vision system, can accurately discern the visual information of the anodal sign of printing and negative pole sign on the on-vehicle module charging platform that charges, and give image processing board with visual information transmission, image processing board obtains anodal sign and negative pole sign and unmanned aerial vehicle total module's relative position and gesture information through the operation, send above-mentioned information for airborne data processing module, airborne data processing module sends command signal for unmanned aerial vehicle total module through the operation, gesture and position when adjusting unmanned aerial vehicle total module and descending, ensure that the anodal foot of airborne module charging frame falls on the anodal sign department of on-vehicle module that charges, the negative pole foot of airborne module charging frame that charges, fall on the negative pole sign department of on-vehicle module that charges.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be taken as limiting the invention. Variations, modifications, substitutions and alterations of the above-described embodiments may be made by those of ordinary skill in the art without departing from the scope of the present invention.
The above embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. An air-ground integrated mobile investigation platform is characterized by comprising a ground investigation vehicle, an unmanned aerial vehicle, a vehicle-mounted general module and an unmanned aerial vehicle general module;
the ground detection vehicle is used for bearing the unmanned aerial vehicle, the vehicle-mounted general module and the unmanned aerial vehicle general module;
the vehicle-mounted general module is integrated on the ground investigation vehicle, and the unmanned aerial vehicle general module is integrated on the unmanned aerial vehicle;
the vehicle-mounted general module comprises a vehicle-mounted charging module, and the vehicle-mounted charging module charges the vehicle-mounted charging module through a generator of the ground investigation vehicle;
the unmanned aerial vehicle total module is including for unmanned aerial vehicle provides the airborne module of charging of power, on-vehicle module of charging is right the airborne module of charging charges through the contact mode of charging, realizes unmanned aerial vehicle is in charge on the ground investigation car.
2. The air-ground integrated mobile investigation platform of claim 1, wherein the vehicle-mounted charging module comprises the generator, a rectifying module, a charging platform, a clamping device;
the generator is used for outputting alternating current;
the rectification module is used for rectifying the alternating current into direct current and outputting the direct current to the charging platform;
the charging platform is coated with a positive pole mark and a negative pole mark;
the clamping device is used for clamping the airborne charging module in a charging state.
3. The air-ground integrated mobile investigation platform of claim 2, wherein the onboard charging module comprises the charging rack, a positive pole pin, a negative pole pin, a battery, a positive charging wire, and a negative charging wire;
the positive electrode pin and the negative electrode pin are used as landing gears and are made of conductive materials;
one end of the positive charging wire is connected with a positive pin of the charging frame, and the other end of the positive charging wire is connected with the positive electrode of the battery;
one end of the negative electrode charging wire is connected with the negative electrode pin of the charging frame, and the other end of the negative electrode charging wire is connected with the negative electrode of the battery.
4. The air-ground integrated mobile reconnaissance platform of claim 3, wherein the drone module further comprises an onboard vision guidance module comprising an image processing board and two visible light cameras;
the two visible light cameras form a binocular vision system for identifying visual information of the positive pole mark and the negative pole mark on the vehicle-mounted charging module charging platform, and the image processing board calculates the relative positions and posture information of the positive pole mark and the negative pole mark relative to the unmanned aerial vehicle module according to the visual information;
the unmanned aerial vehicle total module adjusts the posture and the position of the unmanned aerial vehicle when descending according to the relative position and the posture information, so that the anode foot falls on the anode mark position and the cathode foot falls on the cathode mark position.
5. The air-ground integrated mobile investigation platform of claim 2, wherein the charging platform comprises a positive guide groove, a negative guide groove, a positive charging area, a negative charging area, a voltage reduction module and a charging platform body; the positive guide groove and the negative guide groove are respectively positioned at two sides of the charging table body, the positive charging area is arranged at one side of the positive guide groove, and the negative charging area is arranged at one side of the negative guide groove; the voltage reduction module is installed on one side of the charging platform body and used for changing the voltage of the charging platform into the charging voltage required by the unmanned aerial vehicle battery.
6. The air-ground integrated mobile reconnaissance platform of claim 5, wherein the positive charging area and the negative charging area are provided with charging contacts, and the charging contacts are connected with a charging rack of the unmanned aerial vehicle.
7. The air-ground integrated mobile investigation platform of claim 6, wherein the clamping device comprises positioning mechanisms, the positioning mechanisms are respectively installed in the positive guide groove and the negative guide groove; the positioning mechanism comprises an X-axis sliding assembly and a Y-axis sliding assembly;
the X-axis sliding assembly is respectively arranged in the positive guide groove and the negative guide groove; the Y-axis sliding assembly is installed above the X-axis sliding assembly and is connected with the X-axis sliding assembly in a sliding mode.
8. The air-ground integrated mobile reconnaissance platform of claim 7, wherein the X-axis slide assembly comprises: the first motor is arranged on the X-axis guide rail and used for driving the Y-axis sliding assembly to move along the X-axis direction;
the Y-axis slide assembly includes: the second motor is installed on the Y-axis guide rail and used for driving the sliding block to move along the Y-axis direction.
9. The air-ground integrated mobile investigation platform of claim 7, wherein the clamping device further comprises a locking mechanism, and the locking mechanism comprises a steering engine, a locking block, a spring and an adjusting handle; the steering engine and the locking block are respectively arranged on a sliding block of the Y-axis sliding component; the locking block is made of an insulating elastic material; the adjusting handle is installed on the locking block, the spring is located between the adjusting handle and the locking block, and the spring is used for increasing the rigidity of the locking block.
10. The air-ground integrated mobile reconnaissance platform of claim 1,
the vehicle-mounted general module comprises a vehicle-mounted detection module, a vehicle-mounted communication module, a vehicle-mounted data processing module and the vehicle-mounted charging module;
the unmanned aerial vehicle module comprises an airborne data processing module, an airborne detection module, an airborne communication module and the airborne charging module;
the vehicle-mounted communication module is communicated with the vehicle-mounted communication module, and the vehicle-mounted communication module is used as a transfer station to receive and forward a command given by the control center;
the vehicle-mounted detection module is used for reconnaissance and tracking of a target and comprises a radar and a photoelectric theodolite;
the airborne detection module is used for detecting and tracking a target;
the vehicle-mounted data processing module processes target information respectively acquired by the vehicle-mounted detection module and the airborne detection module, and the vehicle-mounted data processing module respectively sends tracking instructions to the vehicle-mounted detection module and the airborne detection module;
the airborne data processing module is used for adjusting the posture and the position of the unmanned aerial vehicle module during descending.
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Application publication date: 20220729 |