阅读说明：本技术 一种可容纳多尺寸无人机的智能立体机库 (Can hold three-dimensional hangar of intelligence of many sizes unmanned aerial vehicle ) 是由 宋崎 周晗 龚鹏 熊需海 胡为 姬书得 吕赞 王留芳 于 2019-09-29 设计创作，主要内容包括：本发明公开了一种可容纳多尺寸无人机的智能立体机库,包括圆形起落架的四旋翼无人机系统,机库控制系统,驱动机构,机库主轴,机库舱,舱门,支撑板,停机坪,底座,十字肋锥形归中充电装置；本发明中的十字肋锥形归中充电装置内部设有无线充电发射装置,可通过装置顶部与无人机电池接触,对无人机进行无线充电。机库可容纳多尺寸的圆形起落架的无人机的充电及存储,结构紧凑,易于实现,工作效率高。(The invention discloses an intelligent three-dimensional hangar capable of accommodating multi-size unmanned aerial vehicles, which comprises a quadrotor unmanned aerial vehicle system with a circular undercarriage, a hangar control system, a driving mechanism, a hangar spindle, a hangar cabin, cabin doors, a supporting plate, an apron, a base and a cross rib conical centering charging device, wherein the hangar cabin is provided with a cabin door and a cabin door; the wireless charging emitter is arranged in the cross rib conical centering charging device, and the wireless charging emitter can be in contact with the unmanned aerial vehicle battery through the top of the device to wirelessly charge the unmanned aerial vehicle. The hangar can accommodate charging and storing of the unmanned aerial vehicles of the circular undercarriage of multiple sizes, and is compact in structure, easy to achieve and high in working efficiency.)

1. An intelligent three-dimensional hangar capable of accommodating multi-size unmanned aerial vehicles is characterized by comprising a four-rotor unmanned aerial vehicle system (6) of a circular undercarriage, a hangar control system, a driving mechanism, a hangar spindle (4), a hangar cabin (2), a cabin door (1), a supporting plate (5), an apron (8), a base (9), a cross rib conical centering charging device (7) and a hangar camera (3); the hangar control system comprises a controller matched with the driving mechanism, and the controller is connected with the communication device; the hangar camera (3) is used for identifying the unmanned aerial vehicle, collecting the position information of the unmanned aerial vehicle and sending the position information of the unmanned aerial vehicle to the hangar controller; the four-rotor unmanned aerial vehicle system (6) of the circular undercarriage comprises a DSP (digital signal processor) connected with a flight control system, the DSP is also connected with a camera carried at the bottom of the unmanned aerial vehicle, and the DSP is used for processing a cross identification image of a hangar acquired by the camera at the bottom of the unmanned aerial vehicle, calculating the horizontal deviation between the unmanned aerial vehicle and the identification image, and transmitting the processed data to the flight control system of the unmanned aerial vehicle; the hangar cabin (2) is divided into an upper cabin, a middle cabin and a lower cabin, and each layer of supporting plate (5) is connected with a hangar spindle (4) respectively; the air park (8) is respectively connected with the supporting plate (5), and the centers of the surfaces of the air parks (8) are provided with cross grooves which are fixedly connected with the base (9); interior place parking apron (8) in charging device (7) in the cross rib toper is inside to link to each other with base (9), and this charging device is inside to be equipped with wireless emitter that charges in the cross rib toper is returned, accessible device top and unmanned aerial vehicle battery contact carry out wireless charging to unmanned aerial vehicle.

2. The intelligent three-dimensional hangar capable of accommodating multi-size unmanned aerial vehicles as claimed in claim 1, wherein the upper, middle and lower three-layer cabins are the same in structural size, can accommodate unmanned aerial vehicles with circular landing gears of various sizes, are fan-shaped in cabin floor, and a steering engine and a gear are respectively arranged between the support plate (5) and a main shaft of the hangar and can rotate around the main shaft, and the steering engine can more easily control the rotation angle of the support plate.

3. The intelligent stereo garage capable of accommodating multi-size unmanned aerial vehicles according to claim 1, wherein the parking apron (8) is hollow, the surface of the parking apron is circular, a pressure sensor is arranged on the surface of the parking apron, and a cross-shaped groove is formed in the center of the parking apron and serves as a cross-shaped identification image.

4. The unmanned aerial vehicle intelligent stereo hangar capable of accommodating multiple sizes of the unmanned aerial vehicle according to claim 1, wherein the cross rib conical centering charging device (7) is a cross rib plate, is connected with the ball screw (10) and can be driven by the ball screw to move up and down; the ball screw (10) is fixed on the base (9) and connected with the motor, and is driven by the motor to ascend and descend.

5. The intelligent stereo hangar capable of accommodating the unmanned aerial vehicles of various sizes according to claim 1, wherein the ball screw (10) is connected with a pressure sensor on the surface of the parking apron, when the unmanned aerial vehicle falls onto the parking apron, the pressure sensor rises, the cross rib conical centering charging device (7) is driven to rise by the ball screw which receives a control signal, and the circular landing gear of the unmanned aerial vehicle slides downwards along the rib plate of the centering device to center and charge the unmanned aerial vehicle.

6. The intelligent three-dimensional hangar capable of accommodating the unmanned aerial vehicles with various sizes as claimed in claim 1, wherein the hangar camera (3) is fixed above the hangar (2) and can be used for observing the position information of the unmanned aerial vehicles when the unmanned aerial vehicles land, the obtained attitude and position information of the unmanned aerial vehicles is transmitted to the communication device, the communication device transmits signals to the controller of the control system, the controller transmits corresponding control signals to the driving mechanism, the cabin doors of the idle hangar are driven to be opened, the parking apron rotates out, the unmanned aerial vehicles camera recognizes the identification images of the parking apron, the image information is transmitted to the DSP system, the DSP transmits the horizontal deviation between the DSP and the identification images to the flight control system, and the unmanned aerial vehicles are controlled by the flight control to land, center and enter the warehouse.

Technical Field

The invention mainly relates to an intelligent hangar structure of an unmanned aerial vehicle, in particular to an intelligent three-dimensional hangar capable of accommodating unmanned aerial vehicles of multiple sizes.

Background

The pilotless plane is called unmanned plane for short, and is an unmanned plane operated by radio remote control equipment and a self-contained program control device, or is completely or intermittently and autonomously operated by an onboard computer. Compared with manned aircraft, unmanned aerial vehicles can perform dangerous tasks. With the development of unmanned aerial vehicle technology in recent years, small unmanned aerial vehicles are widely used in the fields of military reconnaissance, power line patrol, disaster relief, movie and television shooting and the like. The gyroplane has the functions of hovering at a fixed point, vertically taking off and landing and the like, and has the characteristics of low cost, strong flexibility, diversified tasks, strong survival capability and the like. Wherein many rotor unmanned aerial vehicle have extensively been applied to military affairs, civilian each field. At present, most hangars can only store a single unmanned aerial vehicle, when the unmanned aerial vehicle is introduced and used on a large scale, the cost is greatly increased by one hangar and one machine, and the hangars need to be stored by occupying more space.

Disclosure of Invention

Often need lay in the abominable place in environment to unmanned aerial vehicle, many unmanned aerial vehicles carry out different tasks simultaneously, are difficult to carry out the manual work to unmanned aerial vehicle sometimes and control and retrieve the scheduling problem respectively, provide an unmanned aerial vehicle intelligence hangar, can retrieve the unmanned aerial vehicle intelligence of not unidimensional in same hangar, charge and deposit, can save time and space, improve work efficiency.

The purpose of the invention can be realized by the following technical scheme:

in order to solve the technical problem, the invention provides an intelligent three-dimensional hangar capable of accommodating multi-size unmanned aerial vehicles, which comprises a four-rotor unmanned aerial vehicle system 6 of a circular undercarriage, a hangar control system, a driving mechanism, a hangar spindle 4, a hangar cabin 2, a cabin door 1, a supporting plate 5, an apron 8, a cross rib conical centering charging device 7 and a hangar camera 3; the hangar control system comprises a controller matched with the driving mechanism, and the controller is connected with the communication device; the hangar camera 3 is used for identifying the unmanned aerial vehicle, collecting the position information of the unmanned aerial vehicle and sending the position information of the unmanned aerial vehicle to the hangar controller; the quad-rotor unmanned aerial vehicle system 6 of the circular undercarriage comprises a DSP (digital signal processor) connected with a flight control system, the DSP is further connected with a camera carried at the bottom of the unmanned aerial vehicle, the DSP is used for processing a hangar 'cross mark' image collected by the camera at the bottom of the unmanned aerial vehicle, the horizontal deviation of the unmanned aerial vehicle and the mark image is calculated, and the processed data is transmitted to the flight control system of the unmanned aerial vehicle.

The hangar cabin 2 is divided into an upper cabin layer, a middle cabin layer and a lower cabin layer, and each layer of supporting plate 5 is connected with a hangar spindle 4; the parking apron 8 is connected with the supporting plate 5; the centers of the surfaces of the parking aprons 8 are provided with cross grooves which are fixedly connected with the base 9; charging device 7 places in the cross rib toper in and the parking apron 8 is inside continuous with base 9, and this cross rib toper charging device inside is equipped with wireless emitter that charges who returns, accessible device top and unmanned aerial vehicle battery contact carry out wireless charging to unmanned aerial vehicle.

The unmanned aerial vehicle with the circular undercarriage is characterized in that the inner structure of each layer of the three layers of the engine rooms is the same in size, the unmanned aerial vehicle with the circular undercarriage can be accommodated in various sizes, the floor of each engine room is fan-shaped, a steering engine and a gear are arranged between the supporting plate 5 and the main shaft 4 of the hangar and can rotate around the main shaft, and the steering engine can more easily control the rotation angle of the supporting plate.

The parking apron 8 is fixedly connected with the supporting plate 5, the inside of the parking apron 8 is hollow, the surface of the parking apron is circular, the pressure sensor is arranged on the surface of the parking apron, and the center of the parking apron is provided with a cross-shaped groove which is used as a cross-shaped identification image.

The cross rib conical centering charging device 7 is a cross rib plate, is arranged in the parking apron 8, is connected with the ball screw 10, and can be driven by the screw to move up and down; the base 9 is fixedly connected with the parking apron 8, and the ball screw 10 is fixed on the base 9 and connected with the motor and driven by the motor to ascend and descend.

Ball 10 links to each other with the pressure sensor on 8 surfaces on the air park, and when unmanned aerial vehicle fell to the air park on, the pressure sensor value can rise, and cross rib toper is got back charging device 7 and is risen by receiving control signal's ball 10 drive, and the circular undercarriage of unmanned aerial vehicle will be along getting back the floor lapse of device in, get back to unmanned aerial vehicle.

The hangar camera 3 is fixed in hangar 2 tops, can be used for when the unmanned aerial vehicle descends, observe unmanned aerial vehicle's positional information, unmanned aerial vehicle gesture positional information who will obtain transmits for communication device, communication device sends signal transmission for control system's controller, send corresponding control signal by the controller and give actuating mechanism, the cabin door of the idle hangar of drive is opened, air park 8 rotates out, unmanned aerial vehicle camera discerns "cross" sign image on air park 8 surface, pass image information for the DSP system, DSP will send flight control system with sign image's horizontal deviation, descend and give in the middle of warehouse by flight control unmanned aerial vehicle.

The invention has the beneficial effects that:

1. adopt the toper of cross rib to return charging device in, can control it by the controller and rise, realized that unmanned aerial vehicle falls after intelligent of back and returns to charge in.

2. The backup pad of being connected with the air park can be rotatory around the main shaft, and the rotation type air park has improved the selectivity of unmanned aerial vehicle position when descending.

3. The design in fan-shaped cabin of multilayer not only can hold many unmanned aerial vehicles, can hold not unidimensional unmanned aerial vehicle moreover, and fan-shaped cabin is compared the rotation that realizes the air park easily with circular simultaneously to space utilization has effectively been improved.

Drawings

In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.

Fig. 1 is a schematic front view of the present invention.

Fig. 2 is a schematic structural view of the intelligent centering device of the unmanned aerial vehicle.

Fig. 3 is a schematic diagram of the control system and the unmanned aerial vehicle take-off and landing system of the invention.

In fig. 1: 1. cabin door, 2, hangar cabin, 3, hangar camera, 4, hangar main shaft, 5, backup pad, 6, the four rotor unmanned aerial vehicle system of circular undercarriage, 7, cross rib toper charging device of returning to the middle, 8, air park, 9, base

In fig. 2: 10. ball screw

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the following examples and accompanying drawings, wherein the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not limited to the present invention.