阅读说明：本技术 一种车载无人机控制系统及其控制方法 (Vehicle-mounted unmanned aerial vehicle control system and control method thereof ) 是由 李馨嫔 王健 于 2017-10-13 设计创作，主要内容包括：本发明公开一种车载无人机控制系统及其控制方法,包括方管发射舱、延伸段、电动转台、PLC和终端,所述方管发射舱首端与电动转台铰接连接,所述方管发射舱内设置有无人机位置探测装置,所述方管发射舱末端设置有障碍物传感器,所述方管发射舱的内底面镶嵌有第一电动导轨,所述方管发射舱的外底面镶嵌有第二电动导轨,所述第一电动导轨上设置有跟随板,所述方管发射舱左侧壁和右侧壁均设置有与无人机机翼相配对的导向口,所述导向口上设置有滚珠排,所述方管发射舱外底面开有燕尾槽,所述延伸段上设置有与燕尾槽配对的燕尾榫,所述燕尾榫插入燕尾槽内；该车载无人机控制系统自动化程度高。(The invention discloses a vehicle-mounted unmanned aerial vehicle control system and a control method thereof, and the vehicle-mounted unmanned aerial vehicle control system comprises a square tube launching cabin, an extension section, an electric rotary table, a PLC (programmable logic controller) and a terminal, wherein the head end of the square tube launching cabin is hinged with the electric rotary table, an unmanned aerial vehicle position detection device is arranged in the square tube launching cabin, an obstacle sensor is arranged at the tail end of the square tube launching cabin, a first electric guide rail is embedded on the inner bottom surface of the square tube launching cabin, a second electric guide rail is embedded on the outer bottom surface of the square tube launching cabin, a following plate is arranged on the first electric guide rail, the left side wall and the right side wall of the square tube launching cabin are both provided with guide ports matched with wings of an unmanned aerial vehicle, ball rows are arranged on the guide ports, a dovetail groove is formed in the outer bottom surface of the square tube; the vehicle-mounted unmanned aerial vehicle control system is high in automation degree.)

1. The utility model provides an on-vehicle unmanned aerial vehicle control system which characterized in that: the square pipe launching cabin comprises a square pipe launching cabin, an extension section, an electric rotary table, a PLC (programmable logic controller) and a terminal, wherein the head end of the square pipe launching cabin is hinged with the electric rotary table, an unmanned aerial vehicle position detection device is arranged in the square pipe launching cabin, an obstacle sensor is arranged at the tail end of the square pipe launching cabin, a first electric guide rail is inlaid on the inner bottom surface of the square pipe launching cabin, a second electric guide rail is inlaid on the outer bottom surface of the square pipe launching cabin, a following plate is arranged on the first electric guide rail, guide ports matched with wings of the unmanned aerial vehicle are formed in the left side wall and the right side wall of the square pipe launching cabin, a ball row is arranged on each guide port, a dovetail groove is formed in the outer bottom surface of the square pipe launching cabin, a dovetail matched with the dovetail groove is arranged on the extension section, the dovetail groove is inserted into the, the extension section is linked with the second electric guide rail, the electric rotary table, the unmanned aerial vehicle position detection device, the first electric guide rail and the second electric guide rail are electrically connected with the PLC, and the terminal is in data connection with the PLC;

an electric telescopic rod is arranged between the electric rotary table and the square tube launching cabin, and two ends of the electric telescopic rod are respectively hinged with the electric rotary table and the square tube launching cabin;

follow the board back and be provided with the silica gel connecting strip, the silica gel connecting strip is the right angle form setting, silica gel connecting strip one side and follow board bolted connection, silica gel connecting strip another side and the slider bolted connection of first electronic guide rail.

2. The vehicle-mounted unmanned aerial vehicle control system of claim 1, wherein: the follow-up plate is the cavity setting, follow the board front side and be provided with thermal-insulated ceramic plate, follow board and thermal-insulated ceramic plate mortise-tenon joint.

3. The vehicle-mounted unmanned aerial vehicle control system of claim 2, wherein: the bottom surface of the electric turntable is provided with more than one vacuum sucker, the vacuum suckers are in threaded connection with the electric turntable and are distributed in an annular array.

4. The vehicle-mounted unmanned aerial vehicle control system of claim 3, wherein: the ball bearing device is characterized in that buffering elastic cloth is arranged on the guide opening, two ends of the buffering elastic cloth are riveted with the square tube launching cabin, and the buffering elastic cloth is perpendicular to the ball bearing row.

5. The vehicle-mounted unmanned aerial vehicle control system of claim 4, wherein: the extension section is connected with a slider bolt of the second electric guide rail.

6. The control method of the vehicle-mounted unmanned aerial vehicle control system according to claim 1, characterized by comprising the steps of:

1) the PLC starts the unmanned aerial vehicle position detection device and the obstacle sensor for detection immediately after receiving a takeoff preparation signal sent by the terminal;

2) when the obstacle sensor detects that an obstacle exists in 20-40 meters, a signal is fed back to the PLC, and the PLC controls the electric rotary table to adjust the direction of the square tube launching cabin until no obstacle exists in 20-40 meters;

3) the PLC drives the second electric guide rail to unfold the extension section and then feeds a takeoff enabling signal back to the terminal;

4) starting the pulse jet unmanned aerial vehicle;

5) once the detection device detects that the pulse jet unmanned aerial vehicle moves in the square tube launching cabin, the signal is fed back to the PLC, the PLC drives the first electric guide rail to enable the following plate to follow the pulse jet unmanned aerial vehicle, and the pulse jet unmanned aerial vehicle can obtain good reaction force when taking off in the square tube launching cabin;

6) after the first electric guide rail reaches the maximum stroke, a signal is fed back to the PLC, and the PLC controls the first electric guide rail and the first electric guide rail to reset and stops the unmanned aerial vehicle position detection device and the obstacle sensor to work.

Technical Field

The invention relates to a vehicle-mounted unmanned aerial vehicle control system and a control method thereof.

Background

The pulse jet engine is one of jet engines and can be used on a target aircraft, a missile or an aviation model. German Nykul was used to propel V-1 missiles, bombing London, in the late world war II. The pulse jet engine has simple structure, convenient processing and higher combustion efficiency than the common internal combustion engine, thus being applicable to various aviation and sea models.

At present, the pulse jet type unmanned aerial vehicle is not suitable for taking off in a vehicle-mounted environment, and a technical person in the field hopes that an auxiliary system which can take off in the vehicle-mounted environment by the pulse jet type unmanned aerial vehicle can be developed, so that the flexibility of the pulse jet type is improved.

Disclosure of Invention

The invention provides a vehicle-mounted unmanned aerial vehicle control system for solving the technical problems, the system has high automation degree, and the pulsed jet unmanned aerial vehicle using the system can take off in a vehicle-mounted environment.

In order to solve the problems, the invention adopts the following technical scheme:

a vehicle-mounted unmanned aerial vehicle control system comprises a square tube launching cabin, an extension section, an electric rotary table, a PLC (programmable logic controller) and a terminal, wherein the head end of the square tube launching cabin is hinged with the electric rotary table, an unmanned aerial vehicle position detection device is arranged in the square tube launching cabin, an obstacle sensor is arranged at the tail end of the square tube launching cabin, a first electric guide rail is inlaid on the inner bottom surface of the square tube launching cabin, a second electric guide rail is inlaid on the outer bottom surface of the square tube launching cabin, a following plate is arranged on the first electric guide rail, the left side wall and the right side wall of the square tube launching cabin are respectively provided with a guide port matched with wings of the unmanned aerial vehicle, a ball row is arranged on each guide port, a dovetail groove is formed in the outer bottom surface of the square tube launching cabin, a dovetail matched with the dovetail groove is arranged on the extension section, the dovetail is inserted into the dovetail groove, the extension section is linked with the second electric guide rail, the electric rotary table, the unmanned aerial vehicle position detection device, the first electric guide rail and the second electric guide rail are electrically connected with the PLC, and the terminal is connected with the PLC in a data mode.

Preferably, an electric telescopic rod is arranged between the electric rotary table and the square pipe launching cabin, two ends of the electric telescopic rod are respectively hinged with the electric rotary table and the square pipe launching cabin, the electric telescopic rod is electrically connected with the PLC, and the PLC can drive the electric telescopic rod to adjust the inclination of the square pipe launching cabin.

As preferred, unmanned aerial vehicle position detecting device includes infrared emission pipe and infrared ray receiver tube, infrared emission pipe and infrared ray receiver tube are in the face of setting up, infrared emission pipe and infrared ray receiver tube are installed respectively in two diagonal departments in square pipe transmission cabin, infrared emission pipe and infrared ray receiver tube all are provided with more than one, infrared emission pipe and infrared ray receiver tube are equidistant distribution, adopt infrared emission pipe and infrared ray receiver tube to survey, and the accuracy is high to two diagonal departments of installing in square pipe transmission cabin can avoid being strikeed.

As preferred, the follow board back is provided with the silica gel connecting strip, the silica gel connecting strip is the right angle form setting, silica gel connecting strip one side and follow board bolted connection, the slider bolted connection of silica gel connecting strip another side and first electronic guide rail, the slider of follow board and first electronic guide rail passes through the silica gel connecting strip and connects, and when the follow board struck unmanned aerial vehicle, the silica gel connecting strip can absorb and the impact of dispersion through the bending, prevents that unmanned aerial vehicle from being damaged by the collision.

As preferred, the follow board is the cavity setting, follow the board front side and be provided with thermal-insulated ceramic plate, follow board and thermal-insulated ceramic plate mortise-tenon joint, follow the board and adopted hollow design, the burden that can the first electronic guide rail of effectual reduction, light in weight moreover.

Preferably, the bottom surface of the electric turntable is provided with the vacuum chucks, the vacuum chucks are in threaded connection with the electric turntable and are arranged in more than one mode, the vacuum chucks are distributed in an annular array mode, and the vacuum chucks are arranged on the bottom surface of the electric turntable, so that a user can be conveniently connected with an automobile.

Preferably, be provided with buffering elasticity cloth on the guiding opening, buffering elasticity cloth both ends all with square pipe launch cabin riveting, buffering elasticity cloth is mutually perpendicular with the ball row, through be provided with buffering elasticity cloth on the guiding opening, unmanned aerial vehicle's wing direct impact to square pipe launch cabin when can preventing to put into unmanned aerial vehicle.

Preferably, the extension section is connected with the slider bolt of the second electric guide rail, and the extension section is conveniently detached from the slider of the second electric guide rail and reliably connected with the slider of the second electric guide rail.

Another technical problem to be solved by the present invention is to provide a control method for a vehicle-mounted unmanned aerial vehicle control system, which is characterized by comprising the following steps:

1) the PLC starts the unmanned aerial vehicle position detection device and the obstacle sensor for detection immediately after receiving a takeoff preparation signal sent by the terminal;

2) when the obstacle sensor detects that an obstacle exists in 20-40 meters, a signal is fed back to the PLC, and the PLC controls the electric rotary table to adjust the direction of the square tube launching cabin until no obstacle exists in 20-40 meters;

3) the PLC drives the second electric guide rail to unfold the extension section and then feeds a takeoff enabling signal back to the terminal;

4) starting the pulse jet unmanned aerial vehicle;

5) once the detection device detects that the pulse jet unmanned aerial vehicle moves in the square tube launching cabin, the signal is fed back to the PLC, the PLC drives the first electric guide rail to enable the following plate to follow the pulse jet unmanned aerial vehicle, and the pulse jet unmanned aerial vehicle can obtain good reaction force when taking off in the square tube launching cabin;

5) after the first electric guide rail reaches the maximum stroke, a signal is fed back to the PLC, and the PLC controls the first electric guide rail and the first electric guide rail to reset and stops the unmanned aerial vehicle position detection device and the obstacle sensor to work.

The invention has the beneficial effects that: through being provided with the condition that electric turntable and obstacle sensor cooperation PLC can effectual detection external obstacle under the on-vehicle condition, the departure angle of real-time adjustment unmanned aerial vehicle prevents that unmanned aerial vehicle from striking the obstacle after the departure, very be fit for using under on-vehicle condition, can satisfy the vehicle and take off under the condition of traveling, and degree of automation is high, in addition, be provided with electric telescopic handle between electric turntable and the square pipe launch cabin, the electric telescopic handle both ends are connected with electric turntable and square pipe launch cabin are articulated respectively, electric telescopic handle and PLC electric connection, PLC can drive electric telescopic handle and adjust the gradient in square pipe launch cabin. Unmanned aerial vehicle position detecting device includes infrared emission pipe and infrared ray receiver tube, infrared emission pipe and infrared ray receiver tube are in the face of setting, infrared emission pipe and infrared ray receiver tube are installed respectively in two diagonal departments in square pipe transmission cabin, infrared emission pipe and infrared ray receiver tube all are provided with more than one, infrared emission pipe and infrared ray receiver tube are equidistant distribution, adopt infrared emission pipe and infrared ray receiver tube to survey, the accuracy is high, and install two diagonal departments in square pipe transmission cabin and can avoid being strikeed. Follow the board back and be provided with the silica gel connecting strip, the silica gel connecting strip is the right angle form setting, silica gel connecting strip one side and follow board bolted connection, silica gel connecting strip another side and the slider bolted connection of first electronic guide rail, follow the board and pass through the silica gel connecting strip with the slider of first electronic guide rail and be connected, when the follow board strikes unmanned aerial vehicle, the silica gel connecting strip can absorb the impact with the dispersion through the bending, prevent that unmanned aerial vehicle from being damaged. Follow the board and be the cavity setting, follow the board and be provided with thermal-insulated ceramic plate on the front, follow board and thermal-insulated ceramic plate mortise-tenon joint, follow the board and adopted hollow design, the burden that can the first electronic guide rail of effectual reduction, weight is light moreover. The bottom surface of the electric turntable is provided with more than one vacuum sucker, the vacuum suckers are in threaded connection with the electric turntable and distributed in an annular array, and the vacuum suckers are arranged on the bottom surface of the electric turntable, so that a user can conveniently connect with an automobile. Be provided with buffering elasticity cloth on the guide way, buffering elasticity cloth both ends all with square pipe launch cabin riveting, buffering elasticity cloth is arranged mutually perpendicularly with the ball, through be provided with buffering elasticity cloth on the guide way, unmanned aerial vehicle's wing directly strikes square pipe launch cabin when can preventing to put into unmanned aerial vehicle. The extension section is connected with the slider bolt of the second electric guide rail, and the extension section is convenient to disassemble and assemble with the slider of the second electric guide rail and is reliable in connection.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a perspective view of a vehicle-mounted unmanned aerial vehicle control system of the present invention;

FIG. 2 is a cross-sectional view of a square tube launch cabin of a vehicle-mounted unmanned aerial vehicle control system of the present invention;

fig. 3 is a perspective view of a follower plate of a vehicle-mounted unmanned aerial vehicle control system of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.