阅读说明：本技术 一种无人机海面回收与充电平台及控制方法 (Unmanned aerial vehicle sea surface recycling and charging platform and control method ) 是由 徐雍 陈瑶 饶红霞 林明 鲁仁全 于 2021-08-24 设计创作，主要内容包括：本发明涉及一种无人机海面回收与充电平台,包括：动平台、丝杆、静平台和机械臂；所述动平台用于承接无人机；所述动平台与静平台之间设有三个丝杆；所述丝杆的固定端与所述静平台相连；所述丝杆的滑块通过万向节与所述动平台相连；所述机械臂包括底座、第一折臂、第二折臂和第三折臂；所述底座设置在所述动平台的中心；所述第一折臂的一端和所述底座铰接,所述第一折臂的另一端和所述第二折臂铰接,所述第三折臂和所述第二折臂铰接；所述第三折臂的末端设有运动接口；所述运动接口的外侧面设有导电端子；所述运动接口用于插接于无人机的靶接口。本发明能完成自主回收以及充电操作,大大的提高了海面作业无人机的工作时长。(The invention relates to a sea surface recovery and charging platform for an unmanned aerial vehicle, which comprises: the device comprises a movable platform, a screw rod, a static platform and a mechanical arm; the movable platform is used for carrying the unmanned aerial vehicle; three screw rods are arranged between the movable platform and the static platform; the fixed end of the screw rod is connected with the static platform; the sliding block of the screw rod is connected with the movable platform through a universal joint; the mechanical arm comprises a base, a first folding arm, a second folding arm and a third folding arm; the base is arranged in the center of the movable platform; one end of the first folding arm is hinged with the base, the other end of the first folding arm is hinged with the second folding arm, and the third folding arm is hinged with the second folding arm; the tail end of the third folding arm is provided with a motion interface; the outer side surface of the motion interface is provided with a conductive terminal; the motion interface is used for being plugged in a target interface of the unmanned aerial vehicle. The unmanned aerial vehicle charging system can complete autonomous recovery and charging operation, and greatly prolongs the working time of the unmanned aerial vehicle operating on the sea.)

1. The utility model provides an unmanned aerial vehicle sea is retrieved and platform that charges which characterized in that includes: the device comprises a movable platform, a screw rod, a static platform and a mechanical arm; the movable platform is used for carrying the unmanned aerial vehicle;

three screw rods are arranged between the movable platform and the static platform; the fixed ends of the screw rods are connected with the static platform, and the connection points of the three screw rods and the static platform are distributed in an equilateral triangle; the sliding blocks of the screw rods are connected with the movable platform through universal joints, and the connection points of the three screw rods and the movable platform are distributed in an equilateral triangle shape;

the mechanical arm is arranged in the center of the movable platform and comprises a base, a first folding arm, a second folding arm and a third folding arm; the base is arranged in the center of the movable platform; one end of the first folding arm is hinged with the base, the other end of the first folding arm is hinged with the second folding arm, and the third folding arm is hinged with the second folding arm; the second folding arm can be folded to be flush with the first folding arm;

the tail end of the third folding arm is provided with a motion interface; the motion interface is in a hexagonal frustum pyramid shape; the outer side surface of the motion interface is provided with a conductive terminal; the motion interface is used for being plugged in a target interface of the unmanned aerial vehicle.

2. The unmanned aerial vehicle sea surface recovery and charging platform of claim 1, wherein: a locking device is arranged on the movable platform; the locking device comprises a motor, a connecting rod and a pressure rod; the connecting rod comprises a first connecting rod, a second connecting rod and a third connecting rod; one end of the first connecting rod is connected with the output end of the motor, the other end of the first connecting rod is connected with one end of the second connecting rod, the other end of the second connecting rod is connected with one end of the third connecting rod, and the other end of the third connecting rod is connected with the pressure rod; the first connecting rod and the second connecting rod are arranged in parallel; the motor is arranged on the bottom surface of the movable platform, and the pressure lever is arranged on the top surface of the movable platform; an accommodating space is formed in the movable platform, and the third connecting rod penetrates through the accommodating space and is connected with the pressure rod; the third connecting rod is perpendicular to the pressure rod.

3. The unmanned aerial vehicle sea surface recovery and charging platform of claim 2, wherein: and an electromagnetic chuck is arranged on the bottom surface of the movable platform.

4. The unmanned aerial vehicle sea surface recovery and charging platform of claim 1, wherein: the motion interface comprises a main shaft, a shell, a shaft sleeve, a first supporting shaft and a second supporting shaft; the shell is of a hexagonal frustum pyramid-shaped shell structure with an open bottom and a closed top; one end of the main shaft is connected with the third folding arm, the main shaft penetrates through the bottom surface of the shell, and the other end of the main shaft is nested with a shaft sleeve which can slide on the main shaft; a plurality of first supporting shafts are arranged on the outer side of the shaft sleeve, and the main shaft is connected with the first supporting shafts to form an umbrella-shaped structure; the other end of the first supporting shaft is hinged with the second supporting shaft, and a conductive terminal is arranged at the tail end of the second supporting shaft; the side of the shell is provided with a plurality of through holes, and the conductive terminals extend out of the through holes to the outside of the side of the shell.

5. The unmanned aerial vehicle sea surface recovery and charging platform of claim 1, wherein: and the center of the top of the shell is provided with a camera device.

6. A control method for a sea surface recovery and charging platform of an unmanned aerial vehicle is characterized by comprising the following steps:

the method comprises the following steps: the PITCH angle PITCH and the ROLL angle ROLL are respectively collected through a sensor at the center of the movable platform, a rectangular coordinate system O2 is established at the center of the movable platform, and then the attitude angles of the lead screw and three connecting points A ', B ' and C ' of the movable platform relative to the center O2 of the movable platform are respectively:

C’＝PITCH；

step two: PID control is respectively carried out on the three screw rods, so that the movable platform is in a horizontal state;

if it isThe slide block is slid downwards; if it isThen slide upwardsA movable slide block;

if it isThe slide block is slid downwards; if it isThe slide block is slid upwards;

if C ═ PITC >0, sliding the slider downwards, and if C ═ PITC <0, sliding the slider upwards;

step three: when the attitude angles of the A ', B ' and C ' relative to the center O2 of the movable platform are all 0 degrees, acquiring the accelerations ax, ay and az of the accelerometers of the inertial sensors, calculating the acceleration aa in the direction vertical to the movable platform, and calculating the relative movement amount of the center position of the movable platform in space;

step four: and repeating the first step to the third step to obtain a plurality of groups of relative movement amounts, calculating an average value, and compensating the average value to each screw rod.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a sea surface recovery and charging platform of an unmanned aerial vehicle and a control method.

Background

The unmanned aerial vehicle of sea operation leads to operating time limited because of the problem of endurance, consequently in order to increase the operating ability to and retrieve unmanned aerial vehicle in real time, consequently needs a landing charging device that can conveniently settle on arbitrary sea carrying boat. Due to the fluctuation of the ship body (the space position and the attitude of the ship body are changed), the platform is required to be always kept horizontal and the space position is slightly changed. In the aspect of balance, what is more suitable for at present on small-size delivery boat is the balanced platform that 3 steering engines built, though can compensate the attitude change of descending plane, can lack to deal with to the spatial position change. In view of the 6-degree-of-freedom parallel structure in the market (mainly used as a motion sensing game chair and an unmanned aerial vehicle flight simulation device in the market), the direct-current servo propellers are adopted as the actuators, so that the quantity is large, and the control algorithm is too complicated. To the problem of charging of aircraft, under normal condition, the aircraft charges and all adopts the charger that can balance the charging, and the unmanned aerial vehicle sea that exists on the market charges and generally collects in a place after retrieving again the manual work and handles, wastes time and energy.

Disclosure of Invention

The invention aims to provide a time-saving and labor-saving unmanned aerial vehicle sea surface recovery and charging platform and a control method aiming at the defects in the prior art.

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

an unmanned aerial vehicle sea surface recovery and charging platform, comprising: the device comprises a movable platform, a screw rod, a static platform and a mechanical arm; the movable platform is used for carrying the unmanned aerial vehicle;

three screw rods are arranged between the movable platform and the static platform; the fixed ends of the screw rods are connected with the static platform, and the connection points of the three screw rods and the static platform are distributed in an equilateral triangle; the sliding blocks of the screw rods are connected with the movable platform through universal joints, and the connection points of the three screw rods and the movable platform are distributed in an equilateral triangle shape;

the mechanical arm is arranged in the center of the movable platform and comprises a base, a first folding arm, a second folding arm and a third folding arm; the base is arranged in the center of the movable platform; one end of the first folding arm is hinged with the base, the other end of the first folding arm is hinged with the second folding arm, and the third folding arm is hinged with the second folding arm; the second folding arm can be folded to be flush with the first folding arm;

the tail end of the third folding arm is provided with a motion interface; the motion interface is in a hexagonal frustum pyramid shape; the outer side surface of the motion interface is provided with a conductive terminal; the motion interface is used for being plugged in a target interface of the unmanned aerial vehicle.

Further, a locking device is arranged on the movable platform; the locking device comprises a motor, a connecting rod and a pressure rod; the connecting rod comprises a first connecting rod, a second connecting rod and a third connecting rod; one end of the first connecting rod is connected with the output end of the motor, the other end of the first connecting rod is connected with one end of the second connecting rod, the other end of the second connecting rod is connected with one end of the third connecting rod, and the other end of the third connecting rod is connected with the pressure rod; the first connecting rod and the second connecting rod are arranged in parallel; the motor is arranged on the bottom surface of the movable platform, and the pressure lever is arranged on the top surface of the movable platform; an accommodating space is formed in the movable platform, and the third connecting rod penetrates through the accommodating space and is connected with the pressure rod; the third connecting rod is perpendicular to the pressure rod.

In a further description, an electromagnetic chuck is arranged on the bottom surface of the movable platform.

Stated further, the motion interface includes a main shaft, a housing, a shaft sleeve, a first support shaft and a second support shaft; the shell is of a hexagonal frustum pyramid-shaped shell structure with an open bottom and a closed top; one end of the main shaft is connected with the third folding arm, the main shaft penetrates through the bottom surface of the shell, and the other end of the main shaft is nested with a shaft sleeve which can slide on the main shaft; a plurality of first supporting shafts are arranged on the outer side of the shaft sleeve, and the main shaft is connected with the first supporting shafts to form an umbrella-shaped structure; the other end of the first supporting shaft is hinged with the second supporting shaft, and a conductive terminal is arranged at the tail end of the second supporting shaft; the side of the shell is provided with a plurality of through holes, and the conductive terminals extend out of the through holes to the outside of the side of the shell.

In a further description, a camera device is arranged in the center of the top of the shell.

A control method for an unmanned aerial vehicle sea surface recovery and charging platform comprises the following steps:

the method comprises the following steps: the PITCH angle PITCH and the ROLL angle ROLL are respectively collected through a sensor at the center of the movable platform, a rectangular coordinate system O2 is established at the center of the movable platform, and then the attitude angles of the lead screw and three connecting points A ', B ' and C ' of the movable platform relative to the center O2 of the movable platform are respectively:

C’＝PITCH；

step two: PID control is respectively carried out on the three screw rods, so that the movable platform is in a horizontal state;

if it isThe slide block is slid downwards; if it isThe slide block is slid upwards;

if it isThe slide block is slid downwards; if it isThe slide block is slid upwards;

if C ═ PITC >0, sliding the slider downwards, and if C ═ PITC <0, sliding the slider upwards;

step three: when the attitude angles of the A ', B ' and C ' relative to the center O2 of the movable platform are all 0 degrees, acquiring the accelerations ax, ay and az of the accelerometers of the inertial sensors, calculating the acceleration aa in the direction vertical to the movable platform, and calculating the relative movement amount of the center position of the movable platform in space;

step four: and repeating the first step to the third step to obtain a plurality of groups of relative movement amounts, calculating an average value, and compensating the average value to each screw rod.

The technical scheme can bring the following beneficial effects: can accomplish independently retrieve and the operation of charging, great improvement sea operation unmanned aerial vehicle's operating time length.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic overall structure of one embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a charging interface according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of the kinematic interface of one embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a locking device according to an embodiment of the present invention;

FIG. 5 is a bottom view of the moving platform of one embodiment of the present invention;

wherein: the device comprises a movable platform 1, an electromagnetic chuck 11, a screw rod 2, a sliding block 21, a static platform 3, a mechanical arm 4, a base 41, a first folding arm 42, a second folding arm 43, a third folding arm 44, a motion interface 5, a main shaft 51, a shell 52, a shaft sleeve 53, a first support shaft 54, a second support shaft 55, a target interface 6, a conductive terminal 7, a locking device 8, a motor 81, a connecting rod 82, a first connecting rod 821, a second connecting rod 822, a third connecting rod 823, a pressing rod 83, a camera device 9 and an unmanned aerial vehicle 01.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

As shown in fig. 1-5, an unmanned aerial vehicle sea surface recovery and charging platform comprises: the device comprises a movable platform 1, a screw rod 2, a static platform 3 and a mechanical arm 4; the movable platform 1 is used for receiving the unmanned aerial vehicle 01;

three screw rods 2 are arranged between the movable platform 1 and the static platform 3; the fixed ends of the lead screws 2 are connected with the static platform 3, and the connection points of the three lead screws 2 and the static platform 3 are distributed in an equilateral triangle; the slide block 21 of the screw rod 2 is connected with the movable platform 1 through a universal joint, and the connection points of the three screw rods 2 and the movable platform 1 are distributed in an equilateral triangle;

the mechanical arm 4 is arranged in the center of the movable platform 1, and the mechanical arm 4 comprises a base 41, a first folding arm 42, a second folding arm 43 and a third folding arm 44; the base 41 is arranged at the center of the movable platform 1; one end of the first folding arm 42 is hinged with the base 41, the other end of the first folding arm 42 is hinged with the second folding arm 43, and the third folding arm 44 is hinged with the second folding arm 43; the second folding arm 43 can be folded to be flush with the first folding arm 42;

the tail end of the third folding arm 44 is provided with a motion interface 5; the motion interface 5 is in a hexagonal frustum pyramid shape; the outer side surface of the motion interface 5 is provided with a conductive terminal 7; the motion interface 5 is used for being plugged in a target interface 6 of the unmanned aerial vehicle 01.

Firstly, the whole movable platform 1 is dynamically adjusted and balanced by the three screw rods 2, the structure is simple, and the algorithm for adjusting and controlling the three screw rods 2 is relatively simpler. The design mode of the three folding arms of the mechanical arm 4 can ensure the flexible folding control angle of the mechanical arm 4, and in the folding process, the second folding arm 43 can be folded to be flush with the first folding arm 42, so that the space is saved. The middle part of the target interface 6 is provided with a hexagonal frustum-shaped cavity matched with the motion interface 5, the inner side of the target interface 6 is provided with a groove, and a conductive terminal 7 is arranged in the groove. The six-edge frustum of the moving interface 5 and the target interface 6 are designed in a matching way, on one hand, the front end of the moving interface 5 is small, the rear end of the moving interface is large, the opening end of the target interface 6 is large, and the bottom end of the target interface 6 is small, so that when the moving interface 5 is in butt joint with the target interface 6, the moving interface 5 can be smoothly pushed until the conductive terminals 7 are mutually contacted; on the other hand, the peripheral side edges can prevent the motion interface 5 and the target interface 6 from rotating after being butted, and a relatively stable state is kept.

Further, a locking device 8 is arranged on the movable platform 1; the locking device 8 comprises a motor 81, a connecting rod 82 and a pressure rod 83; the connecting rod 82 comprises a first link 821, a second link 822 and a third link 823; one end of the first connecting rod 821 is connected with the output end of the motor 81, the other end of the first connecting rod 821 is connected with one end of the second connecting rod 822, the other end of the second connecting rod 822 is connected with one end of the third connecting rod 823, and the other end of the third connecting rod 823 is connected with the pressure lever 83; the first link 821 and the second link 822 are arranged in parallel; the motor 81 is arranged on the bottom surface of the movable platform 1, and the pressure lever 83 is arranged on the top surface of the movable platform 1; an accommodating space is formed in the movable platform 1, and the third connecting rod 823 penetrates through the accommodating space to be connected with the pressure lever 83; the third link 823 is perpendicular to the pressing rod 83.

Under motor 81's effect, first connecting rod 821, second connecting rod 822 and third connecting rod 823 rotate, because first connecting rod 821 and third connecting rod 823 are parallel, consequently the same angle of both swings the depression bar 83 that links to each other with third connecting rod 823 lifts, after unmanned aerial vehicle 01 descends, first connecting rod 821, second connecting rod 822 and third connecting rod 823 swing reset, and the frame of falling through depression bar 83 with unmanned aerial vehicle 01 pushes down, realizes the mechanical fastening to unmanned aerial vehicle 01.

In further detail, the bottom surface of the movable platform 1 is provided with an electromagnetic chuck 11.

When the unmanned aerial vehicle 01 flies above the platform, the unmanned aerial vehicle 01 sends a landing request, and then the platform starts to keep horizontal stability. According to the height of the unmanned aerial vehicle 01 from the platform (the altitude H is sent for identifying the APRITAG code in the landing mode of the aircraft), the controller controls the current of the electromagnet and controls the magnetic field intensity. After landing is successful, the system can control the fixed aircraft of locking mechanism, then remove the electromagnetism, if the aircraft has the demand of charging, after the system received the instruction, begin to control arm 4 to the initial position (the camera can effectively catch the switching mouth that charges this moment), when the camera can't find the adapter, control and move platform 1 and rotate, make camera device 9(X axle direction/level) just to target interface 6, locking carousel this moment, again control arm 4 makes camera device 9 directly over target interface 6, lock arm 4 afterwards, then control movement interface 5 forward motion, combine with target interface 6, charge. When charging is completed, the unmanned aerial vehicle 01 sends a charging completion instruction to the system, and the system controls the motion interface 5 and the mechanical arm 4 to the initial position. If unmanned aerial vehicle 01 has the request of taking off afterwards, the system will control the electro-magnet actuation, add 8 unblocks of locking device, move platform 1 and begin the level self-stabilization, wait for unmanned aerial vehicle 01 to take off at last (before unmanned aerial vehicle 01 takes off, electro-magnet actuation dynamics is the biggest, unmanned aerial vehicle 01 takes off the in-process, unmanned aerial vehicle 01's the power of taking off slowly increases, electro-magnet suction slowly reduces, both linear opposite-needs real-time communication). When the unmanned aerial vehicle 01 takes off, the system returns to the initial standby state.

In order to ensure that the suction force of the electromagnetic chuck 11 can be increased along with the reduction of the distance in the descending process of the aircraft. Because the direct current electromagnet (magnetic field is constant) is adopted, the pull-in force is required to be controlled only by adding a variable potentiometer at a power supply end, and the control of the potentiometer is controlled by a steering engine.

Assuming that the height from the platform is H (less than or equal to 100cm) and the attraction force is F (maximum value) during the descent of the aircraft, the actual F is (100-H)/100F.

It is easy to know that in the takeoff process, the suction force is the maximum before the unmanned aerial vehicle 01 sends a takeoff instruction, and after that, the suction force is controlled by reducing the proportion by 20% per second.

To explain further, the motion interface 5 includes a main shaft 51, a housing 52, a shaft sleeve 53, a first support shaft 54 and a second support shaft 55; the shell 52 is a hexagonal frustum-shaped shell structure with an open bottom and a closed top; one end of the spindle 51 is connected to the third folding arm 44, the spindle 51 passes through the bottom surface of the housing 52, and the other end of the spindle 51 is nested with a bushing 53, and the bushing 53 can slide on the spindle 51; a plurality of first supporting shafts 54 are arranged on the outer side of the shaft sleeve 53, and the main shaft 51 is connected with the first supporting shafts 54 to form an umbrella-shaped structure; the other end of the first supporting shaft 54 is hinged to the second supporting shaft 55, and the tail end of the second supporting shaft 55 is provided with a conductive terminal 7; the side of the housing 52 is provided with a plurality of through holes, and the conductive terminals 7 extend out of the side of the housing 52 from the through holes.

The main shaft 51, the shaft sleeve 53, the first supporting shaft 54, the umbrella skeleton structure that the second supporting shaft 55 constitutes, when the butt joint, the shaft sleeve 53 drives the first supporting shaft 54 to slide to the bottom of main shaft 51, the first supporting shaft 54 and the second supporting shaft 55 drive the conductive terminal 7 to retract, make things convenient for motion interface 5 and target interface 6 to dock, after the butt joint is accomplished, the shaft sleeve 53 drives the first supporting shaft 54 to slide to the top of main shaft 51, the first supporting shaft 54 and the second supporting shaft 55 release conductive terminal 7, when realizing charging, conductive terminal 7 card on the motion interface 5 is in the sunken of conductive terminal 7 place of target interface 6, realize the positioning action.

To explain further, the top center of the housing 52 is provided with the camera device 9.

When the motion interface 5 and the target interface 6 are docked, alignment can be performed by the camera 9.

A control method for an unmanned aerial vehicle sea surface recovery and charging platform comprises the following steps:

the method comprises the following steps: the PITCH angle PITCH and the ROLL angle ROLL are respectively collected through a sensor at the center of the movable platform 1, a rectangular coordinate system O2 is established at the center of the movable platform 1, and then the attitude angles of the lead screw 2 and three connection points A ', B ' and C ' of the movable platform 1 relative to the center O2 of the movable platform 1 are respectively:

C’＝PITCH；

step two: PID control is respectively carried out on the three screw rods 2, so that the movable platform 1 is in a horizontal state;

if it isThe slider 21 is slid downward; if it isThe slider 21 is slid upward;

if it isThe slider 21 is slid downward; if it isThe slider 21 is slid upward;

if C ═ PITC >0, slide the slider 21 downward, if C ═ PITC <0, slide the slider 21 upward;

step three: when the attitude angles of A ', B ' and C ' relative to the center O2 of the movable platform 1 are all 0 degrees, acquiring the accelerations ax, ay and az of the inertial sensor accelerometer, calculating the acceleration aa in the direction vertical to the movable platform 1, and calculating the relative movement amount of the center position of the movable platform 1 in space;

step four: and repeating the first step to the third step to obtain a plurality of groups of relative movement amounts, calculating an average value, and compensating the average value to each screw rod 2.

When the landing platform does not receive the landing request of the unmanned aerial vehicle 01, the sliding blocks 21 of the 3 lead screws 2 are all located at 1/2 effective strokes (middle positions), and when the landing request is received, the attitude control of the movable platform 1 is started, namely the level of the movable platform 1 is ensured. The attitude data of the real-time moving platform 1 collected by the MPU6050 sensor is converted into attitude vectors at 3 screw rods 2, and the angle of the vector at each screw rod 2, namely the values of A ', B ' and C ' in 1, is calculated. After the attitude component of each lead screw 2 is calculated, 3 components are controlled respectively, that is, the value of the slide block 21 corresponding to a ', B ', C ' is controlled to be 0, that is, error is 0, so that pitch is 0, and the aim of balancing the movable platform 1 is fulfilled. 3 lead screws 2 are divided into 3 identical sub-control systems, and PID controllers are adopted by the controllers. The simultaneous control of 3 subsystems ensures the balance of the movable platform 1. After the moving platform 1 is balanced, after the balance control of about 5S is maintained, the height compensation control is started, firstly, in 5S, the controller records the acceleration values of 3 screw rods 2 in the acceleration sensor, then, the acceleration is subjected to double integration to obtain displacement data, the fluctuation condition of the moving platform 1 on the space can be approximately sensed through the filtering processing of the data, and finally (the sea wave is in simple harmonic motion on the vertical space), in order to start the height compensation, the initial position (the position at the position where the height compensation is started) of the moving platform 1 needs to be the average position in the collected data, so that the problem that the movement of the slide block 21 cannot exceed the working space is solved. When the height control is started, the relative displacement transformation DET of the movable platform 1 is calculated according to the accelerometer, and then the value is given to the three screw rods 2 to compensate the value, so that the height compensation control is ensured.

The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.