Summary of the invention
The purpose of the present invention is to provide a kind of unmanned plane docking systems, it is intended to solve because existing unmanned plane during flying device mustMust land the technical problem for charging and causing unmanned plane during flying device service efficiency low.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of unmanned plane docking system, including capture are singleMember can be docked and isolated unmanned plane unit and matched control unit with the capturing unit, and the capture is singlyThe first and described unmanned plane unit is able to communicate with described control unit；The capturing unit include pedestal, be set to it is describedTrapping module on pedestal and the first charging interface for docking with the unmanned plane unit, first charging interface are setIt sets on the trapping module；The captured module that the unmanned plane unit includes unmanned plane, is arranged at the top of the unmanned planeAnd the second charging interface for docking with the capturing unit, second charging interface are arranged in the captured moduleOn；The capturing unit carries out capture positioning to the unmanned plane unit by the trapping module and the captured module,The capturing unit and the unmanned plane unit are docked by first charging interface and second charging interface.
Further, the captured module includes the capture bar being arranged at the top of the unmanned plane, the trapping moduleFirst pivoted arm and described the are respectively driven including the first pivoted arm hinged with the pedestal respectively, the second pivoted arm and twoThe steering engine that two pivoted arms rotate respectively；The first holding section, the free end of second pivoted arm is arranged in the free end of first pivoted armSecond holding section is set, and first holding section and second holding section are oppositely arranged；The steering engine respectively drives the first cardConjunction portion and second holding section, which abut, clamps the capture bar.
Further, the free end of first pivoted arm is additionally provided with for inducing the capture bar to engage with described firstFirst guide part of portion's engaging, first guide part are located at the lower part of first holding section；The freedom of second pivoted armEnd is additionally provided with the second guide part for inducing the capture bar to engage with second holding section, second guiding positionIn the lower part of second holding section；First guide part is identical with second pilot construction.
Further, first guide part include two in angle setting guide rods, two guide rods respectively withFirst pivoted arm is connected.
Further, the setting height of first guide part is greater than the setting height of second guide part.
Further, first pivoted arm and second pivoted arm are rectangular parallelepiped structure, and the captured module is also wrappedIt includes and is arranged at the top of the capture bar and for abutting the capture cuboid clamped with first pivoted arm and second pivoted arm.
Further, first charging interface is separately positioned on first pivoted arm and second pivoted arm including twoRelative inner power contacting plate, second charging interface include be separately positioned on it is described capture cuboid two sides chargingContact chip.
Further, the trapping module further includes the video camera that the base bottom is arranged in, the captured moduleIt further include two fixation and recognition lamps being arranged at the top of the capture cuboid.
Further, the captured module further includes the laser ranging sensing being arranged at the top of the capture cuboidDevice.
Unmanned plane docking system provided by the invention can position, capture the capturing unit of unmanned plane by being arranged, andCaptured module accordingly is set on unmanned plane, realizes capturing unit to unmanned plane list by trapping module and captured moduleMember carries out capture positioning, while docks the first charging interface and the second charging interface, realizes that unmanned plane docks in the skyCharging avoids the tedious steps of landing charging, greatly improves the service efficiency of unmanned plane.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie belowAccompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is onlyTo explain the present invention, it is not intended to limit the present invention.
It should be noted that unless otherwise clearly defined and limited, " installation ", " connected ", " fixation ", " are set " connection "Set " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can beMechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediaryThe interaction relationship of connection or two elements inside element.It for the ordinary skill in the art, can basisConcrete condition understands the concrete meaning of above-mentioned term in the present invention.
In addition, " multiple ", " several " are meant that two or more, unless otherwise specifically defined.
Referring to Figure 1 to Fig. 5, now the embodiment of unmanned plane docking system provided by the invention is illustrated.Unmanned planeDocking system including capturing unit 1, can be docked and isolated unmanned plane unit 2 and matched control with capturing unit 1Unit processed.Control unit is the control axis of whole system, can be the controllers such as computer, PLC, single-chip microcontroller or controllerDocking and the separating action of capturing unit 1 and unmanned plane unit 2 are coordinated in combination.Capturing unit 1 and unmanned plane unit 2 distinguish energyIt is enough to be communicated with control unit, to realize that control unit controls and monitors capturing unit 1 and unmanned plane unit 2.Optionally, control unit can be independently arranged or be arranged in capturing unit 1, control unit, capturing unit 1 and unmanned plane listMember 2 is respectively provided with wireless communication module, in order to which control unit, capturing unit 1 and unmanned plane unit 2 are communicated.
Unmanned plane unit 2 is main unmanned plane during flying device, carries out capture crawl with capturing unit 1 and docks, thusIt completes to be operated from capturing unit 1 to the charging of unmanned plane unit 2, stop or data exchange etc., capturing unit 1 is generally located onIt on building or hovers in the sky, in order to make unmanned plane unit 2 dock charging with the completion of capturing unit 1 in the sky.
Capturing unit 1 includes pedestal 11, the trapping module being set on pedestal 11 and is used to dock with unmanned plane unit 2The first charging interface 15, the first charging interface 15 be arranged on trapping module.Unmanned plane unit 2 includes unmanned plane 21, settingCaptured module at the top of unmanned plane 21 and the second charging interface for being docked with capturing unit, the second charging interface 25Setting is in captured module, and the second charging interface 25 with the rechargeable battery of unmanned plane 21 for being electrically connected, the first chargingMouth 15 is connect with the high capacity cell (or alternating current) for being set in pedestal 11 or being arranged in outside, passes through the first charging interface 15Docking for unmanned plane unit 2 and capturing unit 1 is realized with the docking (electrical connection) of the second charging interface 25, realization unmanned plane 21Charging operations.
In docking operation, unmanned plane unit 2 first flies to the attached of capturing unit 1 by manual control or by control unit controlClose predeterminated position, capturing unit 1 again precisely catch unmanned plane unit 2 by the movement of trapping module and captured moduleAfter obtaining positioning, the first charging interface 15 and the second charging interface 25 also just complete docking electrical connection, capturing unit 1 and unmanned planeUnit 2 carries out docking electrical connection by the first charging interface 15 and the second charging interface 25, to realize filling to unmanned plane 21Electricity.
Unmanned plane docking system provided in an embodiment of the present invention can position, capture the capture list of unmanned plane by being arrangedMember, and captured module accordingly is set on unmanned plane, so that capturing unit is passed through trapping module and the realization pair of captured moduleUnmanned plane unit carries out capture positioning, while docks the first charging interface and the second charging interface, realizes that unmanned plane existsAerial docking charging, avoids the tedious steps of landing charging, greatly improves the service efficiency of unmanned plane.
It is caught referring to Figure 1 to Fig. 5 as a kind of specific embodiment of unmanned plane docking system provided by the inventionObtaining module includes the capture bar 22 that 21 top of unmanned plane is arranged in, and trapping module includes the first pivoted arm hinged with pedestal 11 respectively12, the second pivoted arm 13 and two respectively drive the steering engine 14 that the first pivoted arm 12 and the second pivoted arm 13 rotate respectively.
The first holding section 121 is arranged in the free end of first pivoted arm 12, and the second holding section is arranged in the free end of the second pivoted arm 13,First holding section 121 and the second holding section are oppositely arranged.In docking operation, steering engine 14 respectively drives the first pivoted arm 12 and second turnArm 13 rotates, and abuts the first holding section 121 being oppositely arranged and the second holding section from two sides with capture bar 22 respectively, thisSample has just clamped capture bar 22 using the first holding section 121 and the second holding section, keeps capturing unit 1 and unmanned plane unit 2 completeAt capture and docking.At the end of docking, steering engine 14 respectively drives the first pivoted arm 12 and the second pivoted arm 13 rotates backward, and makes unmanned plane2 free flight of unit.
Referring to Figure 1, a kind of specific embodiment as unmanned plane docking system provided by the invention, the first holding section121 be notch compatible with capture 22 shape of bar.
Referring to Figure 1 to Fig. 5, as a kind of specific embodiment of unmanned plane docking system provided by the invention, firstThe free end of pivoted arm 12 is additionally provided with the first guide part for inducing capture bar 22 to engage with the first holding section 121, and first leadsIt is located at the lower part of the first holding section 121 to portion；The free end of second pivoted arm 13 is additionally provided with for inducing capture bar 22 and secondSecond guide part of holding section engaging, the second guide part are located at the lower part of the second holding section.First guide part and the second guide partStructure is identical.By the first guide part of setting and the second pilot construction, capture bar 22 can be quickly directed to firstAt holding section 121 and the second holding section, is conducive to capture the unit that is captured of bar 22 and quickly positions capture.
Referring to Figure 1 to Fig. 5, as a kind of specific embodiment of unmanned plane docking system provided by the invention, firstGuide part includes two guide rods 122 in angle setting, and two guide rods 122 are connected with the first pivoted arm 12 respectively, in this way, two leadTo the distance between bar 122 minimum with the first pivoted arm 12 connecting place, maximum far from 12 connecting place of the first pivoted arm, to make two122 pairs of capture bars 22 of guide rod have guiding role.When docking, capture bar 22 hovering to predetermined position is simultaneously located at two guide rodsBetween 122, when steering engine 14 drives the rotation of the first pivoted arm 12, remain that capture bar 22 between two guide rods 122, finally drivesDynamic first pivoted arm 12, which turns to, makes to capture the position that bar 22 engages with the first holding section 121.Second guide part and the first guide partStructure is identical with application method, and two guide rods 122 of the second guide part are connected with the second pivoted arm 13 respectively, and first turnThe rotation of arm 12 is synchronous carry out with the rotation of the second pivoted arm 13.
As a kind of specific embodiment of unmanned plane docking system provided by the invention, two guide rods of the first guide part122 in 90 degree of angle settings, and two guide rods 122 of the second guide part are in 90 degree of angle settings, in this way before docking, the first guidingJust it is enclosed the region of a probably similar square between portion and the second guide part, in docking operation, capture bar 22 entersTo the region of similar square, in this way, unmanned plane 21 (capture bar 22) do not need early period it is too smart in the region of similar squareClose positioning, it will be able to the guidance of bar 22 will be captured to the first holding section using the guiding role of the first guide part and the second guide part121 and second carry out capture positioning in holding section.
Referring to Figure 1 to Fig. 5, as a kind of specific embodiment of unmanned plane docking system provided by the invention, in order toTwo guide rods 122 of two guide rods 122 and the second guide part that prevent the first guide part are interfered, the setting of the first guide partHeight is greater than the setting height of the second guide part.
Referring to Figure 1, Fig. 4 and Fig. 5, as a kind of specific embodiment of unmanned plane docking system provided by the invention,First pivoted arm 12 and the second pivoted arm 13 are rectangular parallelepiped structure, and captured module further includes setting at 22 top of capture bar and is used forWith the capture cuboid 23 of 13 collective effect of the first pivoted arm 12 and the second pivoted arm (abutting clamping).In docking operation and dockCheng Shi, capture bar 22 is with the first holding section 121 and the second holding section while engage respectively, capture cuboid 23 also with first turnArm 12 and the second pivoted arm 13, which abut, to be clamped, and the shaking of unmanned plane 21 is prevented, and thus being avoided that influences because unmanned plane 21 shakes bringThe problem of charging effect.
Referring to Figure 1, a kind of specific embodiment as unmanned plane docking system provided by the invention, the first chargingMouth 15 includes two power contacting plates for being separately positioned on the relative inner of the first pivoted arm 12 and the second pivoted arm 13, the second chargingMouth 25 includes the charging contacts for being separately positioned on capture 23 two sides of cuboid.After the completion of docking, capture bar 22 is respectively with theOne holding section 121 and the engaging of the second holding section, capture cuboid 23 also abut clamping with the first pivoted arm 12 and the second pivoted arm 13, togetherWhen each power contacting plate be also electrically connected respectively with corresponding charging contact pad, be set to pedestal 11 to easily realize very muchHigh capacity cell (or alternating current) interior or that outside is arranged in is electrically connected with the rechargeable battery of unmanned plane 21.
It is captured referring to Figure 1 with Fig. 2 as a kind of specific embodiment of unmanned plane docking system provided by the inventionModule further includes the video camera 16 that 11 bottom of pedestal is arranged in, and captured module further includes that two settings are pushed up in capture cuboid 23The fixation and recognition lamp 24 in portion.The setting of video camera 16 and fixation and recognition lamp 24 can make unmanned plane 21 in butt junction location in justTrue direction, in order to the electrical connection of the first charging interface 15 and the second charging interface 25.
When unmanned plane unit 2 needs capturing unit 1 to charge or stop, the flight of unmanned plane unit 2 to 1 lower section of capturing unit,Unmanned plane unit 2 and capturing unit 1 establish wireless communication connection at this time, and capturing unit 1 identifies fixation and recognition by video camera 16The position of lamp 24, and location information is sent to unmanned plane unit 2 in real time, unmanned plane unit 2 is by the Information revision oneselfPosition is accurately positioned with realizing, can also identify the location information of fixation and recognition lamp 24 according to video camera 16 by operator, manuallyControl is by 2 precise positioning of unmanned plane unit to preset direction, to guarantee that capture bar 22 blocks with the first holding section 121 and second respectivelyAfter the engaging of conjunction portion, each power contacting plate is also electrically connected with corresponding charging contact pad respectively.
As a kind of specific embodiment of unmanned plane docking system provided by the invention, video camera 16 is ccd video camera.
It is caught referring to Figure 1 with Fig. 2 as a kind of specific embodiment of unmanned plane docking system provided by the inventionObtaining module further includes the laser range sensor 26 that 23 top of capture cuboid is arranged in.When unmanned plane unit 2 and capturing unit 1It completes tentatively to after just, into docking trapped state.Unmanned plane unit 2 flies upwards, and real by laser range sensor 26When measurement at a distance from capturing unit 1.Unmanned plane unit 2 passes through laser range sensor 26 and identifies at a distance from capturing unit 1,Unmanned plane unit 2 relies on the position of the Information revision oneself to realize accurate positioning in the vertical direction, can also be by operatingPerson identifies the range information of laser range sensor 26 according to video camera 16, manually controls and arrives 2 precise positioning of unmanned plane unitPredeterminated position on vertical direction.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the inventionMade any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.