A kind of unmanned vehicle and unmanned plane cooperative operation systemTechnical field
Invention is related to a kind of cooperative operation system, and in particular to a kind of unmanned vehicle and unmanned plane cooperative operation system.
Background technique
With the development of automatic Pilot technology, unmanned vehicle will be applied substantially in military and civil field, including nothingPeople investigates vehicle, unmanned logistic car, unmanned van etc..Past traditional work often carried out investigations using independent unmanned vehicle, objectThe tasks such as stream, cargo transport, still, independent unmanned vehicle have many limitations when executing task, such as: it is installed at the top of 1. unmanned vehiclesThe sensory perceptual systems such as camera, the radar barrier that can not identify hypertelorism, be depressed in ground.2. the general volume of unmanned vehicle compared withGreatly, it cannot be introduced into narrow space and execute task, such as thick grass, building etc., this huge degree of limitation constrains unmanned vehicleApplication scenarios.Therefore, it is realized and is cooperated using unmanned vehicle-unmanned plane, it is small in size using unmanned plane, light, investigation visual angle is wideThe advantages of to make up the use disadvantage of above-mentioned unmanned vehicle, become the research hotspot of researcher in recent years.
But the Collaborative Control of unmanned vehicle and unmanned plane has one compared with hang-up always, is exactly: how by unmanned plane withUnmanned vehicle realization is effectively fixedly connected, and guarantees good reliability in different road drivings, meanwhile, it need to be when task needsUnmanned plane can be discharged at any time.
Summary of the invention
In view of this, the present invention provides a kind of unmanned vehicle and unmanned plane cooperative operation system, unmanned plane and nothing can be realizedPeople's vehicle is reliably connected, and can discharge unmanned plane at any time when task needs, and guarantees that unmanned vehicle and unmanned plane can be effectiveIt cooperates.
The unmanned vehicle and unmanned plane cooperative operation system, comprising: unmanned vehicle and unmanned plane further include electromagnetism radio and tape playerStructure, the unmanned plane are manipulated by remote control unit and are flown；
The electromagnetism jack includes: the magnetic platform being arranged at the top of unmanned vehicle and the electricity for being mounted on uav bottomMagnet, the electromagnet are powered by power supply line by the power battery pack inside unmanned plane, are controlled by the remote control unitThe on-off of the power supply line.
When the unmanned vehicle executes task, the unmanned plane is adsorbed on the magnetic platform of unmanned vehicle by the electromagnetOn；
When needing the unmanned plane to execute task, is sent by the remote control unit to the unmanned plane and unlock the finger that takes offIt enables, the unmanned plane receives unlock and takes off after instruction, controls the on-off of the power supply line, the electromagnet is made to lose magneticProperty, it is taken off by remote control unit manipulation unmanned plane and is detached from magnetic platform and executes task；
After the unmanned plane has executed task, the magnetism droping at the top of unmanned vehicle is returned under the manipulation of remote control unitOn platform, then the remote control unit sends lock instruction to unmanned plane, after the unmanned plane receives lock instruction, controls instituteThe on-off for stating power supply line makes the electromagnet restore magnetic, to be adsorbed on the magnetic platform of unmanned vehicle.
The utility model has the advantages that
(1) cooperative operation system realizes effective connection of unmanned plane and unmanned vehicle, knot using electromagnet and magnetic platformStructure is simple and reliable easily controllable, not complicated mechanical structure, is easy to be transformed and install additional, can guarantee can when task needsTo discharge unmanned plane at any time.
(2) be mounted on electromagnet on unmanned plane and select power loss type electromagnet, can effectively save electric energy, protect to the full extentDemonstrate,prove aircraft continuation of the journey.
Detailed description of the invention
Fig. 1 is unmanned vehicle of the invention and unmanned plane cooperative operation system structural schematic diagram；
Fig. 2 is electromagnetism jack control flow schematic diagram.
Wherein: 1- unmanned vehicle, 2- unmanned plane
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present embodiment provides a kind of unmanned vehicle and unmanned plane cooperative operation system, using the system can guarantee unmanned vehicle andUnmanned plane can effectively cooperate.
As shown in Figure 1, the unmanned vehicle and unmanned plane cooperative operation system include: unmanned vehicle 1, unmanned plane 2 and electromagnetism folding and unfoldingMechanism, unmanned plane 2 by radio robot (remote control unit) manipulate fly, with cooperate with unmanned vehicle complete logistics transportation, scouting,The tasks such as cargo transport.
Unmanned plane 2 is parked in 1 top of unmanned vehicle, to guarantee that unmanned plane 2 can reliably be parked in nobody when not in use1 top of vehicle, is arranged electromagnetism jack, and electromagnetism jack includes: that the magnetic platform at 1 top of unmanned vehicle is arranged in and is mounted onThe electromagnet of 2 bottom of unmanned plane, there are four electromagnet for installation on the foot prop of unmanned plane 2 in the present embodiment, and electromagnet is by nobodyPower battery pack power supply inside machine 2, the on-off of the power supply line is controlled by remote control unit.For effectively save electric energy, electromagnetismPower loss type electromagnet (be powered disconnected magnetic) can be selected in iron, thus guarantees aircraft continuation of the journey to the full extent.Control inside unmanned planeAfter unit receives take off instruction or the lock instruction of remote control unit, the electromagnet of control 2 bottom of unmanned plane is powered or power-off, fromAnd realize the release or locking of unmanned plane.
Being parked in unmanned plane 2 on 1 top magnetic platform of unmanned vehicle can be a frame or multi rack, and every frame unmanned plane 2 is by itRadio robot (remote control unit) the operating alone flight of itself, the bottom of every frame unmanned plane 2 is provided with by inside itPower battery pack power supply electromagnet, and the on-off of power supply line by its own remote control unit control, be achieved in each nothingMan-machine independent control.
The course of work of the cooperative operation system are as follows:
Under normal circumstances, the electromagnet of electromagnet no power, 2 bottom of unmanned plane is firmly adsorbed on magnetic platform, fromAnd unmanned plane 2 is made reliably to be parked in the top of unmanned vehicle 1, it is carried out investigations at this time by unmanned vehicle, logistics, the tasks such as cargo transport；
When encounter unmanned vehicle 1 cannot be introduced into narrow space execute task when, remote control unit control unmanned plane 2 unlock takes off,Specifically: when the control unit of unmanned plane receive remote control unit take off instruction after, I/O interface in unmanned aerial vehicle (UAV) control unitIt is changed into high level from low level, energization closure, power battery pack are at this point, the relay module connecting with I/O interface is triggeredIt is mounted on four power loss type electromagnet power supply of 2 foot prop of unmanned plane, the energization of power loss type electromagnet loses magnetism, loses and platformAdsorption capacity.It is detached from magnetic platform at this point, being taken off by remote control unit manipulation unmanned plane 2 and executes task；
After unmanned plane 2 has executed task, it is flat that the magnetism droping at the top of unmanned vehicle 1 is returned under the manipulation of remote control unitOn platform, then remote control unit sends lock instruction to unmanned plane 2, and after unmanned plane is connected to lock instruction, the IO of control unit is connectMouth is changed into low level from high level by process control, and output voltage is 0 volt.At this point, the relay module being connect with I/O interfaceIt disconnects, power battery pack will be switched off being mounted on the power supply of the power loss type electromagnet of aircraft foot prop.The power-off of power loss type electromagnet is extensiveMultiple magnetism, restores the adsorption capacity with magnetic platform, so that unmanned plane 2 can continue to the magnetic platform that absorption is locked in unmanned vehicleOn.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the inventionWithin protection scope.