阅读说明：本技术 精准回收值守无人机机库 (Accurate recovery unmanned aerial vehicle hangar that guards on ) 是由 龚鹏 姬书得 胡为 宋崎 熊需海 吕赞 白巍 王海瑞 于 2019-09-20 设计创作，主要内容包括：本发明涉及了一种精准回收值守无人机机库,由顶部太阳能电池板盖、机库外侧门柱、左右侧滑动门、多个停机室、底层控制室组成,顶部太阳能电池板盖上安装有气象数据采集装置,所述无人机机库包括多个停机室,由固定停机坪、移动停机坪及停机室门组成,固定停机坪上安装的多功能限位器一、移动停机坪上安装的多功能限位器二用于无人机降落后的自动归正操作,移动停机坪上安装的图像识别相机和激光定位器为无人机提供精准的降落位置,底层控制室内置综合控制器、通讯器、环境控制器、机库电源装置。该无人机机库能够为多架无人机降落提供精准的定位,实现精准回收；在无人机降落后为其进行自动充电,并实现无人机自动起降。(The invention relates to an accurate recovery on-duty unmanned aerial vehicle hangar, which consists of a top solar panel cover, an outer side door post of the hangar, a left side sliding door, a right side sliding door, a plurality of parking rooms and a bottom control room, wherein a meteorological data acquisition device is installed on the top solar panel cover, the unmanned aerial vehicle hangar comprises a plurality of parking rooms, and consists of a fixed parking apron, a movable parking apron and a parking room door, a first multifunctional limiter installed on the fixed parking apron and a second multifunctional limiter installed on the movable parking apron are used for automatic righting operation after the unmanned aerial vehicle falls, an image recognition camera and a laser locator installed on the movable parking apron provide accurate landing positions for the unmanned aerial vehicle, and a comprehensive controller, a communicator, an environmental controller and a hangar power supply device are arranged in the bottom control room. The unmanned aerial vehicle hangar can provide accurate positioning for landing of multiple unmanned aerial vehicles, and accurate recovery is realized; the unmanned aerial vehicle is automatically charged after landing and the automatic take-off and landing of the unmanned aerial vehicle are realized.)

1. The utility model provides an accurate recovery on duty unmanned aerial vehicle hangar which characterized in that: the system consists of a top solar panel cover, a garage outer side door post, left and right sliding doors, a plurality of parking rooms and a bottom control room, wherein a meteorological data acquisition device is arranged on the top solar panel cover; the unmanned aerial vehicle hangar comprises a plurality of parking rooms, each parking room consists of a fixed parking apron, a movable parking apron and a parking room door, the parking room doors form front and rear side doors of the unmanned aerial vehicle hangar and are connected to the unmanned aerial vehicle hangar through high-strength hinges on door posts on the outer side of the hangar, the fixed parking apron is connected to the bottom of the parking room door through bolts, a first multifunctional stopper is installed on the fixed parking apron, a second multifunctional stopper is installed on the movable parking apron, an automatic charger is installed on the first multifunctional stopper and can automatically charge the unmanned aerial vehicle, and the charging mode is contact charging; the other two sides of the unmanned aerial vehicle hangar are left and right sliding doors, and sliding motors are arranged below the doors; the comprehensive controller, the communicator, the environment controller and the automatic charger are controlled by the comprehensive controller through a signal line.

2. The precision recovery on-duty unmanned aerial vehicle hangar of claim 1, wherein: the parking rooms can be arranged into a single layer or multiple layers according to actual requirements, the parking rooms in every two layers are separated by a garage middle partition plate, four independent parking rooms can be placed in each layer, each parking room works independently, and the number of the parking rooms can be adjusted according to the actual requirements; each layer of the stopping rooms can take off and land 2 unmanned aerial vehicles at most at the same time, namely the number of unmanned racks taking off and land at each time of the unmanned aerial vehicle hangar is half of the total number of the stopping rooms.

3. The precision recovery on-duty unmanned aerial vehicle hangar of claim 2, wherein: each two parking rooms are connected by a garage center door post and two garage outer side door posts, each door post is used for fixing each parking room through a connector, two door post rotating motors are embedded in each garage outer side door post, and power lines and signal lines of the door posts are also embedded in the garage outer side door posts and are electrically connected with the integrated controller; spring relay and stand-by charger are installed to hangar intermediate bottom and top solar panel lid bottom surface, install the stand-by charger charged piece that positive and negative electrode slice connection next layer unmanned aerial vehicle top on the stand-by charger and charge for unmanned aerial vehicle, and this charging mode is the contact charging, for the stand-by charging mode in this hangar.

4. The precision recovery on-duty unmanned aerial vehicle hangar of claim 3, wherein: and a constant temperature module is installed on the outer wall of the central column of the hangar.

5. The precision recovery on-duty unmanned aerial vehicle hangar of claim 1, wherein: the fixed parking apron is of a hollow structure consisting of an upper fixed parking apron cover plate and a bottom fixed parking apron plate, wherein the upper part of one side, away from a parking room door, of the upper fixed parking apron cover plate is rounded to obtain an inclined fillet, so that an unmanned aerial vehicle is not blocked when being recovered, two side surfaces of the upper fixed parking apron cover plate are respectively provided with a lead screw guide groove for mounting a small lead screw motor and a lead screw and driving a first multifunctional stopper to move back and forth, and a pressure sensor is arranged on the surface of the first multifunctional stopper and electrically connected with the integrated controller; the bottom plate of the fixed parking apron is an L-shaped plate, and a screw motor and a screw are arranged at the center and two side edges of the vertical part and used for stretching and moving the parking apron; the screw motor is electrically connected with the integrated controller.

6. The precision recovery on-duty unmanned aerial vehicle hangar of claim 1, wherein: the mobile parking apron is a hollow structure consisting of a mobile parking apron bottom plate and a mobile parking apron upper cover plate, a laser positioner, an image recognition camera, a power line and a signal line are arranged in the mobile parking apron, and the mobile parking apron upper cover plate is provided with an opening corresponding to the mobile parking apron upper cover plate; a sealing lead screw guide groove is arranged in the middle of the bottom plate of the movable parking apron along the front-back direction and is matched with a lead screw at the center of the fixed parking apron; and gear guide grooves are reserved on two sides of the upper cover of the movable parking apron, racks are arranged in the gear guide grooves to form a movable channel, gears driven by a gear motor and a gear motor are respectively arranged on two sides of the bottom of the second multifunctional stopper, the gears are matched with the racks and used for driving the second multifunctional stopper to move, and the gear motor is electrically connected with the comprehensive controller.

7. The use method of the precision recovery on-duty unmanned aerial vehicle hangar of any one of claims 1 to 6 is as follows:

(1) accurate recovery and automatic charging process of unmanned aerial vehicle

When an unmanned aerial vehicle is about to land, an automatic landing program is started through flight control, a hangar at the closest distance is screened, a real-time communication local area network between the hangar parking room and the unmanned aerial vehicle is established, positions of the hangar parking room and the unmanned aerial vehicle are determined mutually, sliding doors on the left side and the right side are opened, the parking room starts to act, a mobile parking apron is exposed outside, when 4 image identification points of the unmanned aerial vehicle are uniformly distributed around the central position of the mobile parking apron, a communicator transmits an instruction to the unmanned aerial vehicle, the unmanned aerial vehicle accurately lands at the central position, then the mobile parking apron is withdrawn and aligned and charges the unmanned aerial vehicle through a first multifunctional limiter and a first multifunctional limiter, the sliding doors on the left side and the right side, and the unmanned aerial vehicle accurately recovers;

(2) unmanned aerial vehicle take-off process

When unmanned aerial vehicle will take off, integrated controller gives the cab of parking at unmanned aerial vehicle place that can take off with the instruction transmission, and the sliding door is opened to the left and right sides, and the cab starts, moves the outside to the hangar when unmanned aerial vehicle, and integrated controller transmits the order that allows to take off for unmanned aerial vehicle through the communicator, and unmanned aerial vehicle flies to control and starts unmanned aerial vehicle after accepting the order, and the cab of parking and the sliding door of the left and right sides are returned to the normal position after unmanned aerial vehicle takes off, and the hangar gets into standby state.

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a precise recovery unmanned aerial vehicle hangar.

Background

In recent years, with the rapid development of the unmanned aerial vehicle industry in China, the number of consumption-level and industrial-level unmanned aerial vehicles is increased day by day, the application of the unmanned aerial vehicle has penetrated into various fields, and because the development speed of the unmanned aerial vehicle is too rapid, the development speed of the infrastructure matched with the unmanned aerial vehicle is too slow. Most of consumption machine unmanned aerial vehicle and industrial unmanned aerial vehicle when carrying out the task in the existing market are the task of accomplishing under operating personnel's participation, and the flight of taking off and land and the storage task of full independence are not perfect enough, especially the automatic task of charging after unmanned aerial vehicle retrieves. Meanwhile, when the unmanned aerial vehicle carries out the task in the field, the endurance problem and the take-off and landing problem in the severe external environment and the long-distance task execution are gradually highlighted.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the accurate recovery on-duty unmanned aerial vehicle hangar which can provide accurate positioning for the landing of a plurality of unmanned aerial vehicles, automatically charge the unmanned aerial vehicles after the unmanned aerial vehicles land and realize the automatic take-off and landing of the unmanned aerial vehicles.

In order to achieve the purpose, the invention adopts the following technical scheme:

an accurate recovery unmanned aerial vehicle hangar consists of a top solar panel cover, an outer side door post of the hangar, left and right sliding doors, a plurality of parking rooms and a bottom control room, wherein a meteorological data acquisition device is mounted on the top solar panel cover; the unmanned aerial vehicle hangar comprises a plurality of parking rooms, each parking room consists of a fixed parking apron, a movable parking apron and a parking room door, the parking room doors form front and rear side doors of the unmanned aerial vehicle hangar and are connected to the unmanned aerial vehicle hangar through high-strength hinges on door posts on the outer side of the hangar, the fixed parking apron is connected to the bottom of the parking room door through bolts, a first multifunctional stopper is installed on the fixed parking apron, a second multifunctional stopper is installed on the movable parking apron, an automatic charger is installed on the first multifunctional stopper and can automatically charge the unmanned aerial vehicle, and the charging mode is contact charging; the other two sides of the unmanned aerial vehicle hangar are left and right sliding doors, and sliding motors are arranged below the doors; the comprehensive controller, the communicator, the environment controller and the automatic charger are controlled by the comprehensive controller through a signal line.

The parking rooms can be arranged into a single layer or multiple layers according to actual requirements, the parking rooms in every two layers are separated by a garage middle partition plate, four independent parking rooms can be placed in each layer, each parking room works independently, and the number of the parking rooms can be adjusted according to the actual requirements; each layer of the stopping rooms can take off and land 2 unmanned aerial vehicles at most at the same time, namely the number of unmanned racks taking off and land at each time of the unmanned aerial vehicle hangar is half of the total number of the stopping rooms.

Each two parking rooms are connected by a garage center door post and two garage outer side door posts, each door post is used for fixing each parking room through a connector, two door post rotating motors are embedded in each garage outer side door post, and power lines and signal lines of the door posts are also embedded in the garage outer side door posts and are electrically connected with the integrated controller; spring relay and stand-by charger are installed to hangar intermediate bottom and top solar panel lid bottom surface, install the stand-by charger charged piece that positive and negative electrode slice connection next layer unmanned aerial vehicle top on the stand-by charger and charge for unmanned aerial vehicle, and this charging mode is the contact charging, for the stand-by charging mode in this hangar.

And a constant temperature module is installed on the outer wall of the central column of the hangar.

The fixed parking apron is of a hollow structure consisting of an upper fixed parking apron cover plate and a bottom fixed parking apron plate, wherein the upper part of one side, away from a parking room door, of the upper fixed parking apron cover plate is rounded to obtain an inclined fillet, so that an unmanned aerial vehicle is not blocked when being recovered, two side surfaces of the upper fixed parking apron cover plate are respectively provided with a lead screw guide groove for mounting a small lead screw motor and a lead screw and driving a first multifunctional stopper to move back and forth, and a pressure sensor is arranged on the surface of the first multifunctional stopper and electrically connected with the integrated controller; the bottom plate of the fixed parking apron is an L-shaped plate, and a screw motor and a screw are arranged at the center and two side edges of the vertical part and used for stretching and moving the parking apron; the screw motor is electrically connected with the integrated controller.

The mobile parking apron is a hollow structure consisting of a mobile parking apron bottom plate and a mobile parking apron upper cover plate, a laser positioner, an image recognition camera, a power line and a signal line are arranged in the mobile parking apron, and the mobile parking apron upper cover plate is provided with an opening corresponding to the mobile parking apron upper cover plate; a sealing lead screw guide groove is arranged in the middle of the bottom plate of the movable parking apron along the front-back direction and is matched with a lead screw at the center of the fixed parking apron; and gear guide grooves are reserved on two sides of the upper cover of the movable parking apron, racks are arranged in the gear guide grooves to form a movable channel, gears driven by a gear motor and a gear motor are respectively arranged on two sides of the bottom of the second multifunctional stopper, the gears are matched with the racks and used for driving the second multifunctional stopper to move, and the gear motor is electrically connected with the comprehensive controller.

The use method of the accurate recovery unmanned aerial vehicle hangar comprises the following steps:

(1) accurate recovery and automatic charging process of unmanned aerial vehicle

When an unmanned aerial vehicle is about to land, an automatic landing program is started through flight control, a hangar at the closest distance is screened, a real-time communication local area network between the hangar parking room and the unmanned aerial vehicle is established, positions of the hangar parking room and the unmanned aerial vehicle are determined mutually, sliding doors on the left side and the right side are opened, the parking room starts to act, a mobile parking apron is exposed outside, when 4 image identification points of the unmanned aerial vehicle are uniformly distributed around the central position of the mobile parking apron, a communicator transmits an instruction to the unmanned aerial vehicle, the unmanned aerial vehicle accurately lands at the central position, then the mobile parking apron is withdrawn and aligned and charges the unmanned aerial vehicle through a first multifunctional limiter and a first multifunctional limiter, the sliding doors on the left side and the right side, and the unmanned aerial vehicle accurately recovers;

(2) unmanned aerial vehicle take-off process

When unmanned aerial vehicle will take off, integrated controller gives the cab of parking at unmanned aerial vehicle place that can take off with the instruction transmission, and the sliding door is opened to the left and right sides, and the cab starts, moves the outside to the hangar when unmanned aerial vehicle, and integrated controller transmits the order that allows to take off for unmanned aerial vehicle through the communicator, and unmanned aerial vehicle flies to control and starts unmanned aerial vehicle after accepting the order, and the cab of parking and the sliding door of the left and right sides are returned to the normal position after unmanned aerial vehicle takes off, and the hangar gets into standby state.

The invention has the beneficial effects that:

1. according to the invention, through the positioning of the unmanned aerial vehicle parking room and the bidirectional positioning mode of positioning the unmanned aerial vehicle in the parking room, the problems of low landing precision of the unmanned aerial vehicle and difficulty in recovering the hangar at the present stage are solved, the unmanned aerial vehicle lands at the central position of the parking apron, and the automatic recovery and charging of the unmanned aerial vehicle in the hangar are ensured.

2. The invention can provide a single-layer or multi-layer hangar according to actual requirements, the hangar can take off and land half of unmanned aerial vehicles of own parking rooms at the same time, the limited space is fully utilized, and a platform is provided for the cluster activities of the unmanned aerial vehicles.

3. In the invention, a central door post of the hangar is connected with two outer door posts of the hangar by a hangar connector between every two layers of parking rooms, so that the hangars of each layer are quickly connected and disassembled, and favorable conditions are provided for arranging multiple layers of hangars.

4. According to the invention, each layer of the hangar is divided into 4 parking rooms, the periphery of each parking room is of a movable structure, and the door post rotating motor drives the parking rooms to rotate, so that a wide space is provided for the taking-off and landing of the unmanned aerial vehicle.

5. Each parking room is provided with a fixed parking apron and a movable parking apron, and the movable parking apron can freely stretch out and draw back within the limit range of the fixed parking apron, so that a selectable wide platform is provided for taking off and landing of the unmanned aerial vehicle; the parking chamber is driven to rotate by combining the door post rotating motor, so that a wide lifting space of the hangar with the door post at the outer side of the hangar as the center is realized.

6. According to the invention, each parking room is provided with the first multifunctional limiter and the second multifunctional limiter, and the automatic charger and the pressure sensor are arranged on the first multifunctional limiter and the second multifunctional limiter, so that the unmanned aerial vehicle has the functions of limiting the unmanned aerial vehicle to shake, pushing and pulling the unmanned aerial vehicle to move and ensuring the automatic charging of the unmanned aerial vehicle, and the functions are integrated, so that the use space in the hangar is saved.

7. According to the invention, the image recognition camera and the laser positioner are arranged in the mobile parking apron, so that the unmanned aerial vehicle can accurately land.

8. According to the invention, the solar cell panel is installed at the top of the hangar, the constant temperature module is installed in the hangar, the hangar can be operated in the field for a long time in a suitable storage environment, and the meteorological data acquisition device at the top can provide meteorological data for the automatic takeoff of the unmanned aerial vehicle.

9. The hangar ensures that each device in the hangar can normally operate by customizing the integrated controller, and has strong fault-tolerant performance.

Drawings

FIG. 1 is a schematic view of the external structure of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

FIG. 3 is a schematic view of the parking chamber according to the present invention;

FIG. 4 is a schematic view of the internal structure of the parking chamber of the present invention;

FIG. 5 is a schematic view of an unmanned aerial vehicle landing gear;

FIG. 6 is a bottom view of an unmanned aerial vehicle landing gear;

wherein the content of the first and second substances,

1 hangar, 11 top solar panel covers, 12 hangar middle clapboards, 13 spring relays, 14 backup chargers, 141 backup charger cathodes, 142 backup charger anodes, 15 meteorological data acquisition devices, 16 shutdown room doors and 161 bolt connecting holes; 2, stopping the machine room; 3 moving the apron, 31 gear guide groove, 32 multifunctional stopper II, 33 moving apron bottom plate, 34 image recognition cameras, 341 image recognition mark points, 35 laser positioner, 36 sealing screw guide groove, 37 moving apron upper cover plate, 371 image recognition camera port and 372 laser positioner port; 4, fixing an apron, 41, fixing an upper cover plate of the apron, 42, fixing an apron bottom plate, 421, a screw motor mounting box, 43, a screw guide groove, 44, a first multifunctional limiter, 441, a pressure sensor, 442, an automatic charger, 443, a screw guide hole, 45, a 46 screw, 47 standby charger current-carrying sheets, 48 charger current-carrying sheets and 49 pressure sensor sheets; 5, a bottom control room, 51 integrated controllers, 52 communicators, 53 hangar power supply devices and 54 environment controllers; 6 left and right sliding doors, 61 gears, 62 gear motors and 63 racks; 7, a hangar connector; 8, a central door post of the hangar, and 81 constant temperature modules; 9 outer door columns of the hangar and 91 door column rotating motors.

Detailed Description

For better understanding of the present invention, the technical solutions and effects of the present invention will be described in detail by the following embodiments with reference to the accompanying drawings.