Releasing and storing system of cluster rotor unmanned aerial vehicle and control method thereof
阅读说明：本技术 集群旋翼无人机释放收纳的系统及其控制方法 (Releasing and storing system of cluster rotor unmanned aerial vehicle and control method thereof ) 是由 鹿迎 郄志鹏 闫野 桂健钧 李靖 杨楚乐 于 2020-06-30 设计创作，主要内容包括：本发明公开了一种集群旋翼无人机释放收纳的系统及其控制方法,主要技术方案包括：立式无人机收纳柜包含：多层挂载板,挂载板之间层叠挂载；挂载板四角处通过螺栓固定直线轴承,直线轴承沿四根立式光杆上下滑动；挂载板上安装有四个电磁铁；立式光杆的顶部支撑收纳柜顶板,顶板上安装有双输出轴电机,双输出轴电机输出轴上安装绞盘；柔性绳索一端固定在绞盘上,另一端绕过导向轮,依次穿过所有挂载板；无人机起降转运平台包括：四根拨杆,拨杆通过连接件与方形螺母固定,方形螺母与正反牙丝杠配合；正反牙丝杠通过联轴器与步进电机联结,步进电机提供丝杠的转动动力,编码器通过联轴器与丝杠相连,通过编码器测算电机转速和方形螺母的位置。(The invention discloses a releasing and storing system of a cluster rotor unmanned aerial vehicle and a control method thereof, and the main technical scheme comprises the following steps: vertical unmanned aerial vehicle accomodates cabinet contains: the hanging plates are stacked and hung; linear bearings are fixed at four corners of the hanging support plate through bolts and slide up and down along the four vertical polish rods; four electromagnets are arranged on the hanging and carrying plate; a top plate of the storage cabinet is supported at the top of the vertical polished rod, a motor with double output shafts is mounted on the top plate, and a winch is mounted on an output shaft of the motor with double output shafts; one end of the flexible rope is fixed on the winch, and the other end of the flexible rope bypasses the guide wheel and sequentially passes through all the hanging support plates; unmanned aerial vehicle takes off and land transportation platform includes: the four shifting rods are fixed with square nuts through connecting pieces, and the square nuts are matched with the positive and negative screw rods; the positive and negative tooth lead screws are connected with the stepping motor through the coupler, the stepping motor provides rotating power of the lead screws, the encoder is connected with the lead screws through the coupler, and the rotating speed of the motor and the position of the square nut are measured and calculated through the encoder.)
1. A system for releasing and storing cluster rotor unmanned aerial vehicles, comprising:
the unmanned aerial vehicle taking-off and landing transfer platform comprises a vertical unmanned aerial vehicle storage cabinet and an unmanned aerial vehicle taking-off and landing transfer platform;
wherein, vertical unmanned aerial vehicle accomodates cabinet contains:
the hanging and carrying plates are stacked and carried, and are connected in series through flexible ropes;
linear bearings are fixed at four corners of the hanging support plate through bolts and slide up and down along the four vertical polish rods;
the hanging support plate is provided with four electromagnets for fixing the unmanned aerial vehicle in a magnetic attraction manner;
the bottom of the vertical polish rod is provided with a threaded hole and is fixed on the base 4 through a bolt;
a top plate of the storage cabinet is supported at the top of the vertical polish rod, a motor with double output shafts is mounted on the top plate, and a winch is mounted on an output shaft of the motor with double output shafts;
one end of a flexible rope is fixed on the winch, and the other end of the flexible rope bypasses the guide wheel and sequentially passes through all the hanging support plates;
unmanned aerial vehicle takes off and land transportation platform includes:
the bottom of the unmanned aerial vehicle taking-off and landing transfer platform is supported by two guide rails and corresponding slide blocks, and the unmanned aerial vehicle taking-off and landing transfer platform is driven by a bottom lead screw to realize the forward and backward movement of the unmanned aerial vehicle taking-off and landing transfer platform;
the unmanned aerial vehicle taking-off and landing transfer platform is also provided with four shifting levers, the shifting levers are fixed with square nuts through connecting pieces, the square nuts are matched with positive and negative tooth lead screws, and the nuts drive the shifting levers to move through the rotation of the lead screws;
the positive and negative tooth lead screws are connected with the stepping motor through the coupler, the stepping motor provides rotating power of the lead screws, the encoder is connected with the lead screws through the coupler, and the rotating speed of the motor and the position of the square nut are measured and calculated through the encoder.
2. The clustered rotary wing drone release stowing system of claim 1,
four rope through holes are formed in four corners of the hanging and carrying plate respectively and used for allowing the flexible ropes to pass through;
the rope penetrating hole is provided with a boss, a threaded hole is formed in the boss, and the rope flexibility is pressed through a fastening pin.
3. The clustered rotary wing drone release stowing system of claim 1,
hang and still install four electro-magnets on the support plate for fixed unmanned aerial vehicle is inhaled to magnetism.
4. The clustered rotary wing drone release stowing system of claim 3, further comprising: an unmanned aerial vehicle;
the unmanned aerial vehicle adopts an elliptical ring-shaped machine leg, so that the unmanned aerial vehicle taking-off and landing transfer platform can conveniently adjust the direction of the unmanned aerial vehicle;
four horn ends of unmanned aerial vehicle pass through the circular iron sheet of bolt fastening, circular iron sheet with the electro-magnet actuation.
5. The system of claim 3, wherein the vertical drone stowage bin further comprises: a rod-shaped electrode and an electric brush;
the rod-shaped electrode is fixed on the vertical polish rod through an insulating plastic fixed cross rod;
the electric brush is fixed on the hanging support plate and can slide up and down along the positive and negative rod-shaped electrodes so as to supply power to the electromagnet when the hanging support plate moves.
6. A control method for releasing and storing of a cluster rotor unmanned aerial vehicle is characterized by comprising the following steps:
after receiving a batch of unmanned aerial vehicle transmitting instructions, powering off the electromagnets of the corresponding mounting plates according to the mounting plate numbers carried in the unmanned aerial vehicle transmitting instructions; the electromagnet is used for fixing the unmanned aerial vehicle in a magnetic attraction manner;
the hanging support plate slides downwards along the vertical polish rod, and whether the hanging support plate reaches the unmanned aerial vehicle taking-off and landing transfer platform is judged;
if so, judging whether the unmanned aerial vehicle taking-off and landing transfer platform transfers to the hanging plate;
if so, the unmanned aerial vehicle taking-off and landing transfer platform is supported by two guide rails at the bottom and corresponding sliding blocks and driven to a launching position by a bottom lead screw;
waiting for the unmanned aerial vehicle to take off at the launching position, and judging whether the unmanned aerial vehicle to be launched still exists after the unmanned aerial vehicle successfully takes off;
if yes, the steps are executed in a circulating mode until all the unmanned aerial vehicles finish taking off.
7. The control method according to claim 6, characterized in that the method further comprises:
after receiving a batch of unmanned aerial vehicle landing instructions, determining whether the unmanned aerial vehicle taking-off and landing transfer platform is located at a landing position;
if so, judging whether the unmanned aerial vehicle successfully lands;
if the unmanned aerial vehicle is successfully landed, the front and back tooth lead screws on the unmanned aerial vehicle take-off and landing transfer platform are connected with the stepping motor through the coupler, the stepping motor provides rotating power of the lead screws, the encoder is connected with the lead screws through the coupler, and the rotating speed of the motor and the position of the square nut are measured and calculated through the encoder;
judging whether the unmanned aerial vehicle taking-off and landing transfer platform reaches the serial number of the mounting plate carried in the landing instruction;
if the number of the hanging support plates is equal to the number of the hanging support plates, the unmanned aerial vehicle is transferred to the hanging support plates corresponding to the hanging support plate numbers, the hanging support plates move upwards to the original positions of the hanging support plates through a motor with double output shafts, a winch is installed on an output shaft of the motor with the double output shafts, one end of a flexible rope is fixed on the winch, and the other end of the flexible rope bypasses guide wheels and sequentially penetrates through all the hanging support plates;
the indication electromagnet is electrified.
Technical Field
The invention relates to the technical field of motion control, in particular to a releasing and storing system of a cluster rotor unmanned aerial vehicle and a control method thereof.
Background
With the rapid development of the unmanned aerial vehicle technology, the unmanned aerial vehicle cluster and the swarm are applied to military reconnaissance and battle, and are applied to the fields of civil detection, routing inspection, plant protection and the like. At present, the endurance of unmanned aerial vehicles is always the bottleneck restricting the rotor unmanned aerial vehicles from carrying out outdoor operation in a large range and long endurance. The mode of cooperative work of a plurality of machine clusters is adopted, and the short-time large-range coverage of the unmanned aerial vehicle in a working area is facilitated. However, although the working efficiency can be improved by the way of cooperative work of multiple unmanned aerial vehicles, the high-frequency take-off and landing of the unmanned aerial vehicles with the rotor wings and the storage work thereof are problems which need to be solved at present.
Disclosure of Invention
In view of this, the embodiment of the invention provides a releasing and storing system of a cluster rotor unmanned aerial vehicle and a control method thereof, and mainly aims to solve the problems of high-frequency take-off and landing of a cluster of the cluster rotor unmanned aerial vehicle and complex storing work of the cluster rotor unmanned aerial vehicle.
In order to solve the above problems, embodiments of the present invention mainly provide the following technical solutions:
in a first aspect, an embodiment of the present invention provides a system for releasing and storing a cluster rotor unmanned aerial vehicle, including:
the unmanned aerial vehicle taking-off and landing transfer platform comprises a vertical unmanned aerial vehicle storage cabinet and an unmanned aerial vehicle taking-off and landing transfer platform;
wherein, vertical unmanned aerial vehicle accomodates cabinet contains:
the hanging and carrying plates are stacked and carried, and are connected in series through flexible ropes;
linear bearings are fixed at four corners of the hanging support plate through bolts and slide up and down along the four vertical polish rods;
the hanging support plate is provided with four electromagnets for fixing the unmanned aerial vehicle in a magnetic attraction manner;
the bottom of the vertical polish rod is provided with a threaded hole and is fixed on the base 4 through a bolt;
a top plate of the storage cabinet is supported at the top of the vertical polished rod, a motor with double output shafts is mounted on the top plate, and a winch is mounted on an output shaft of the motor with double output shafts;
one end of a flexible rope is fixed on the winch, and the other end of the flexible rope bypasses the guide wheel and sequentially passes through all the hanging support plates;
unmanned aerial vehicle takes off and land transportation platform includes:
the bottom of the unmanned aerial vehicle taking-off and landing transfer platform is supported by two guide rails and corresponding slide blocks, and the unmanned aerial vehicle taking-off and landing transfer platform is driven by a bottom lead screw to realize the forward and backward movement of the unmanned aerial vehicle taking-off and landing transfer platform;
the unmanned aerial vehicle taking-off and landing transfer platform is also provided with four shifting levers, the shifting levers are fixed with square nuts through connecting pieces, the square nuts are matched with positive and negative tooth lead screws, and the nuts drive the shifting levers to move through the rotation of the lead screws;
the positive and negative tooth lead screws are connected with the stepping motor through the coupler, the stepping motor provides rotating power of the lead screws, the encoder is connected with the lead screws through the coupler, and the rotating speed of the motor and the position of the square nut are measured and calculated through the encoder.
Alternatively to this, the first and second parts may,
four rope through holes are formed in four corners of the hanging and carrying plate respectively and used for allowing the flexible ropes to pass through;
the rope penetrating hole is provided with a boss, a threaded hole is formed in the boss, and the rope flexibility is pressed through a fastening pin.
Alternatively to this, the first and second parts may,
the hanging support plate is also provided with four electromagnets for fixing the unmanned aerial vehicle in a magnetic attraction manner;
optionally, the method further includes: an unmanned aerial vehicle;
the unmanned aerial vehicle adopts an elliptical ring-shaped machine leg, so that the unmanned aerial vehicle taking-off and landing transfer platform can conveniently adjust the direction of the unmanned aerial vehicle;
four horn ends of unmanned aerial vehicle pass through the circular iron sheet of bolt fastening, circular iron sheet with the electro-magnet actuation.
Optionally, vertical unmanned aerial vehicle accomodates cabinet still includes: a rod-shaped electrode and an electric brush;
the rod-shaped electrode is fixed on the vertical polish rod through an insulating plastic fixed cross rod;
the electric brush is fixed on the hanging support plate and can slide up and down along the positive and negative rod-shaped electrodes so as to supply power to the electromagnet when the hanging support plate moves.
In a second aspect, an embodiment of the present invention further provides a method for controlling release and storage of a cluster rotor unmanned aerial vehicle, including:
after receiving a batch of unmanned aerial vehicle transmitting instructions, powering off the electromagnets of the corresponding mounting plates according to the mounting plate numbers carried in the unmanned aerial vehicle transmitting instructions; the electromagnet is used for fixing the unmanned aerial vehicle in a magnetic attraction manner;
the hanging support plate slides downwards along the vertical polish rod, and whether the hanging support plate reaches the unmanned aerial vehicle taking-off and landing transfer platform is judged;
if so, judging whether the unmanned aerial vehicle taking-off and landing transfer platform transfers to the hanging plate;
if so, the unmanned aerial vehicle taking-off and landing transfer platform is supported by two guide rails at the bottom and corresponding sliding blocks and driven to a launching position by a bottom lead screw;
waiting for the unmanned aerial vehicle to take off at the launching position, and judging whether the unmanned aerial vehicle to be launched still exists after the unmanned aerial vehicle successfully takes off;
if yes, the steps are executed in a circulating mode until all the unmanned aerial vehicles finish taking off.
Optionally, the method further includes:
after receiving a batch of unmanned aerial vehicle landing instructions, determining whether the unmanned aerial vehicle taking-off and landing transfer platform is located at a landing position;
if so, judging whether the unmanned aerial vehicle successfully lands;
if the unmanned aerial vehicle is successfully landed, the front and back tooth lead screws on the unmanned aerial vehicle take-off and landing transfer platform are connected with the stepping motor through the coupler, the stepping motor provides rotating power of the lead screws, the encoder is connected with the lead screws through the coupler, and the rotating speed of the motor and the position of the square nut are measured and calculated through the encoder;
judging whether the unmanned aerial vehicle taking-off and landing transfer platform reaches the serial number of the mounting plate carried in the landing instruction;
if the number of the hanging support plates is equal to the number of the hanging support plates, the unmanned aerial vehicle is transferred to the hanging support plates corresponding to the hanging support plate numbers, the hanging support plates move upwards to the original positions of the hanging support plates through a motor with double output shafts, a winch is installed on an output shaft of the motor with the double output shafts, one end of a flexible rope is fixed on the winch, and the other end of the flexible rope bypasses guide wheels and sequentially penetrates through all the hanging support plates;
the indication electromagnet is electrified.
By the technical scheme, the technical scheme provided by the embodiment of the invention at least has the following advantages:
the system for releasing and containing the cluster rotor unmanned aerial vehicle provided by the embodiment of the invention comprises: the unmanned aerial vehicle taking-off and landing transfer platform comprises a vertical unmanned aerial vehicle storage cabinet and an unmanned aerial vehicle taking-off and landing transfer platform; wherein, vertical unmanned aerial vehicle accomodates cabinet contains:
the hanging and carrying plates are stacked and carried, and are connected in series through flexible ropes; linear bearings are fixed at four corners of the hanging support plate through bolts and slide up and down along the four vertical polish rods; the hanging support plate is provided with four electromagnets for fixing the unmanned aerial vehicle in a magnetic attraction manner; the bottom of the vertical polish rod is provided with a threaded hole and is fixed on the base through a bolt; a top plate of the storage cabinet is supported at the top of the vertical polish rod, a motor with double output shafts is mounted on the top plate, and a winch is mounted on an output shaft of the motor with double output shafts; one end of a flexible rope is fixed on the winch, and the other end of the flexible rope bypasses the guide wheel and sequentially passes through all the hanging support plates; unmanned aerial vehicle takes off and land transportation platform includes: the bottom of the unmanned aerial vehicle taking-off and landing transfer platform is supported by two guide rails and corresponding slide blocks, and the unmanned aerial vehicle taking-off and landing transfer platform is driven by a bottom lead screw to realize the forward and backward movement of the unmanned aerial vehicle taking-off and landing transfer platform; the unmanned aerial vehicle taking-off and landing transfer platform is also provided with four shifting levers, the shifting levers are fixed with square nuts through connecting pieces, the square nuts are matched with positive and negative tooth lead screws, and the nuts drive the shifting levers to move through the rotation of the lead screws; the positive and negative tooth lead screws are connected with the stepping motor through the coupler, the stepping motor provides rotating power of the lead screws, the encoder is connected with the lead screws through the coupler, and the rotating speed of the motor and the position of the square nut are measured and calculated through the encoder. Compared with the prior art, vertical unmanned aerial vehicle accomodates the cabinet and adopts range upon range of carry design, realizes that unmanned aerial vehicle puts in order at the layering in vertical space, establishes ties through flexible rope between the vertical cabinet carry board of accomodating, realizes reciprocating of carry board through positive and negative rotation of dual output shaft motor to driving lever in the unmanned aerial vehicle takes off and land the transportation platform passes through motor and lead screw drive, can realize the position of motor speed and lead screw slider through the encoder and calculate, realizes the accurate positioning of driving lever position.
The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and the embodiments of the present invention can be implemented according to the content of the description in order to make the technical means of the embodiments of the present invention more clearly understood, and the detailed description of the embodiments of the present invention is provided below in order to make the foregoing and other objects, features, and advantages of the embodiments of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the embodiments of the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic diagram illustrating a first system for releasing stowage of clustered rotary wing drones provided by an embodiment of the present invention;
fig. 2 is a schematic diagram of a second system for releasing stowage of clustered rotary wing drones provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of a third system for releasing stowage of clustered rotary wing drones provided by an embodiment of the present invention;
fig. 4 is a schematic diagram of a fourth system for releasing stowage of clustered rotary wing drones provided by an embodiment of the present invention;
fig. 5 is a schematic diagram of a fifth system for releasing stowage of clustered rotary wing drones provided by an embodiment of the present invention;
fig. 6 is a schematic diagram of a sixth system for releasing stowage of clustered rotary-wing drones provided by an embodiment of the present invention;
fig. 7 is a schematic diagram of a seventh system for releasing stowage of clustered rotary wing drones provided by an embodiment of the present invention;
fig. 8 is a flowchart illustrating a method for controlling release of a cluster rotary-wing drone according to an embodiment of the present invention;
fig. 9 shows a flowchart of a method for controlling stowing of clustered rotor drones according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the present invention further provides a system for releasing and storing a cluster rotor unmanned aerial vehicle, as shown in fig. 1 to 3, 6, and 7, including:
a vertical unmanned aerial vehicle storage cabinet and an unmanned aerial vehicle take-off and landing transfer platform 18;
the vertical unmanned aerial vehicle storage cabinet adopts the stacked hanging support plates to carry out hanging fixation on the unmanned aerial vehicle in the cabinet, so that the utilization rate of a longitudinal space is improved to the maximum extent; unmanned aerial vehicle takes off and land transportation platform rotor unmanned aerial vehicle provides takes off and descends the place, transports the platform and can take off/descend at unmanned aerial vehicle position and vertical storage cabinet between reciprocating motion, realizes taking off smoothly of unmanned aerial vehicle and descends to accomodate.
Wherein, vertical unmanned aerial vehicle accomodates cabinet contains:
the hanging and carrying plate comprises a plurality of layers of hanging and carrying plates 1, wherein the hanging and carrying plates 1 are stacked and carried in series through flexible ropes 9, the hanging and carrying plates 1 are made of aluminum alloy, and the hanging and carrying plates 1 are lifted or lowered by controlling the tensioning and loosening of the flexible ropes 9; it should be noted that fig. 1 shows an example of a five-layer hanging and carrying board, but in practical applications, the number of layers of the hanging and carrying board may be replaced according to different requirements, for example, 4 layers or 8 layers, and the like, and this is not limited in this embodiment of the present invention.
The four corners of the hanging and supporting plate 1 are fixed with linear bearings 2 through bolts, and the linear bearings 2 slide up and down along four vertical polish rods 3;
the hanging and supporting plate 1 is provided with four electromagnets for fixing the unmanned aerial vehicle in a magnetic attraction manner; the iron sheet of adsorbing the unmanned aerial vehicle arm through the electromagnet realizes the fixation of the unmanned aerial vehicle in the cabinet.
The bottom of the vertical polish rod 3 is provided with a threaded hole and is fixed on the base 4 through a bolt;
a top plate 5 of the storage cabinet is supported at the top of the vertical polished rod 3, a motor 6 with double output shafts is installed on the top plate 5, and a winch 7 is installed on an output shaft of the motor 6 with double output shafts;
one end of a flexible rope 9 is fixed on the winch 7, and the other end of the flexible rope bypasses the guide wheel 8 and sequentially passes through all the hanging and supporting plates 1;
the unmanned aerial vehicle take-off and landing transfer platform 18 comprises:
the bottom of the unmanned aerial vehicle taking-off and landing transfer platform 18 is supported by two guide rails 19 and corresponding slide blocks, and the unmanned aerial vehicle taking-off and landing transfer platform 18 is driven by a bottom lead screw 20 to realize the forward and backward movement of the unmanned aerial vehicle taking-off and landing transfer platform 18;
the unmanned aerial vehicle taking-off and landing transfer platform 18 is further provided with four
the positive and negative teeth lead screw 24 is connected with a stepping motor 26 through a coupler 25, the stepping motor 26 provides the rotating power of the lead screw 20, an encoder 27 is connected with the lead screw 20 through the coupler 25, and the rotating speed of the motor and the position of the square nut 23 are measured and calculated through the encoder 27. In practical application, the device shown in fig. 7 may also be called an unmanned aerial vehicle adjusting device, and the adjusting device may implement adjustment of the position and direction of the unmanned aerial vehicle. The driving lever of the adjusting device is driven by the motor and the lead screw, the rotation speed of the motor and the position of the lead screw sliding block can be measured and calculated through the encoder, and the position of the driving lever can be accurately positioned.
With reference to fig. 3, four rope threading holes are respectively formed at four corners of the hanging and supporting plate 1 for passing through the flexible rope 9;
the rope penetrating hole is provided with a boss 10 which is provided with a threaded hole, and the rope flexibility is pressed through a fastening pin.
Further, as shown in fig. 1, four electromagnets 11 are further installed on the hanging and supporting plate 1 and used for fixing the unmanned aerial vehicle through magnetic attraction. Prevent to accomodate cabinet unmanned aerial vehicle dislocation in the transportation.
Further, as shown in fig. 4, the system further includes: an unmanned aerial vehicle;
the unmanned aerial vehicle adopts an elliptical ring-shaped
four horn ends of unmanned aerial vehicle pass through the
Further, as shown in fig. 5, the vertical unmanned aerial vehicle storage cabinet further includes: a rod-shaped electrode and an electric brush;
the rod-shaped electrode 15 is fixed on the vertical polish rod 3 through an insulating plastic fixed cross bar 14;
the electric brush 17 is fixed on the hanging and carrying plate 1 and can slide up and down along the positive and negative rod-shaped electrodes 15 so as to supply power to the electromagnet 11 when the hanging and carrying plate 1 moves. And continuous power supply of the electromagnet in the motion process of the hanging and carrying plate is realized by adopting the rod-shaped electrode and the electric brush.
Further, as shown in fig. 8, an embodiment of the present invention further provides a method for controlling release of a cluster rotor drone, including:
101. after receiving unmanned aerial vehicle emission instruction in batches, the control system that cluster rotor unmanned aerial vehicle released and accomodate carries out the self-checking.
If the self-test is successful, step 102 is executed, and if the self-test is failed, step 108 is executed.
102. According to the serial number of the mounting plate 1 carried in the unmanned aerial vehicle transmitting instruction, the electromagnet 11 of the corresponding mounting plate 1 is powered off; the electromagnet 11 is used for fixing the unmanned aerial vehicle in a magnetic attraction manner;
103. the hanging and supporting plate 1 slides downwards along the vertical polish rod 3, and whether the hanging and supporting plate 1 reaches the unmanned aerial vehicle taking-off and landing transfer platform 18 is judged;
if yes, go to step 104, otherwise go to step 103.
104. Judging whether the unmanned aerial vehicle taking-off and landing transfer platform 18 transfers to the hanging plate;
if yes, go to step 105; if not, go to step 108.
105. The unmanned aerial vehicle taking-off and landing transfer platform 18 is supported by two guide rails 19 at the bottom and corresponding sliding blocks, and is driven to a launching position by a bottom lead screw 20;
106. waiting for the unmanned aerial vehicle to take off at the launching position, and judging whether the unmanned aerial vehicle to be launched still exists after the unmanned aerial vehicle successfully takes off;
if yes, circularly executing the steps until all the unmanned aerial vehicles finish taking off;
if not, go to step 107.
107. Waiting for the unmanned aerial vehicle to land.
108. And reporting fault information.
Further, as shown in fig. 9, an embodiment of the present invention further provides a control method for storing a cluster rotor unmanned aerial vehicle, including:
201. after receiving a batch of unmanned aerial vehicle landing instructions, the unmanned aerial vehicle taking-off and landing transfer platform moves to a landing position, and whether the unmanned aerial vehicle taking-off and landing transfer platform 18 is located at the landing position is determined;
if yes, go to step 202, otherwise, go to step 201.
202. Waiting for the unmanned aerial vehicle to land.
203. Judging whether the unmanned aerial vehicle successfully lands;
if the landing is successful,
204. Based on the fact that a positive and negative tooth lead screw 24 on the unmanned aerial vehicle taking-off and landing transferring platform 18 is connected with a stepping motor 26 through a coupler 25, the stepping motor 26 provides rotating power of the lead screw 20, an encoder 27 is connected with the lead screw 20 through the coupler 25, and the rotating speed of the motor and the position of a square nut 23 are measured and calculated through the encoder 27;
205. the unmanned aerial vehicle takes off and land and transports the platform to the position motion that the mounting plate serial number corresponds.
206. Judging whether the unmanned aerial vehicle taking-off and landing transfer platform 18 reaches a position corresponding to the serial number of the mounting plate carried in the landing instruction;
if yes, go to step 207, otherwise go to step 205.
207. After an unmanned aerial vehicle is transferred to a hanging plate 1 corresponding to the hanging plate number, the hanging plate 1 moves upwards to the original position of the hanging plate 1 through a motor 6 with double output shafts, a winch 7 is installed on an output shaft of the motor 6 with the double output shafts, one end of a flexible rope 9 is fixed on the winch 7, and the other end of the flexible rope bypasses a guide wheel 8 and sequentially passes through all the hanging plates 1;
208. the indicating electromagnet 11 is energized.
209. It is determined whether there are more drones to land.
If yes, the steps are executed in a circulating mode, and if not, the cluster rotor unmanned aerial vehicle is stopped to be stored.
The present embodiments provide a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the methods provided by the method embodiments described above.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
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