CN116443301B - A multi-task UAV mobile nest and inspection method - Google Patents
A multi-task UAV mobile nest and inspection methodInfo
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- CN116443301B CN116443301B CN202310541603.1A CN202310541603A CN116443301B CN 116443301 B CN116443301 B CN 116443301B CN 202310541603 A CN202310541603 A CN 202310541603A CN 116443301 B CN116443301 B CN 116443301B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/10—Transport or storage specially adapted for UAVs with means for moving the UAV to a supply or launch location, e.g. robotic arms or carousels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/90—Launching from or landing on platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/40—Transport or storage specially adapted for UAVs for two or more UAVs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/70—Transport or storage specially adapted for UAVs in containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Aviation & Aerospace Engineering (AREA)
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- Robotics (AREA)
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Abstract
本发明提供了一种多任务无人机移动机巢及巡检方法，所述机巢至少包括：起降平台以及划分有多个无人机停机区的转盘；转盘与水平布置的转盘导轨滑动连接，且转盘导轨通过底梁固定，转盘通过第一电机驱动；起降平台上设有复位方向垂直的第一复位组件以及第二复位组件，第一复位组件以及第二复位组件用于与转盘配合实现无人机的取出和复位；本发明实现了多无人机同平台存放，保证了无人机存储区域与无人机起降平台的连续性，只需要将无人机直接推出即可实现无人机在起降平台上的起飞，避免了无人机降落时的复杂定位流程，实现了更高效的多无人机联合起飞作业。
The present invention provides a multi-task UAV mobile nest and inspection method, the nest comprising at least: a take-off and landing platform and a turntable divided into a plurality of UAV parking areas; the turntable is slidably connected to a horizontally arranged turntable guide rail, and the turntable guide rail is fixed by a bottom beam, and the turntable is driven by a first motor; a first reset component and a second reset component with a vertical reset direction are provided on the take-off and landing platform, and the first reset component and the second reset component are used to cooperate with the turntable to realize the removal and reset of the UAV; the present invention realizes the storage of multiple UAVs on the same platform, ensures the continuity of the UAV storage area and the UAV take-off and landing platform, and only needs to directly push the UAV out to realize the take-off of the UAV on the take-off and landing platform, avoiding the complicated positioning process when the UAV lands, and realizing more efficient multi-UAV joint take-off operation.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a multi-task unmanned aerial vehicle mobile nest and a routing inspection method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
At present, unmanned aerial vehicles become reliable means of electric power inspection, equipment inspection operation quality and efficiency have been greatly improved, along with the rapid development of unmanned aerial vehicles and communication technology, unmanned aerial vehicles gradually develop to multiple product fusion type application by independent operation, and multi-unmanned aerial vehicle's joint inspection is becoming the normal operation form of electric power inspection gradually.
The inventor finds that the existing mobile unmanned aerial vehicle nest mostly adopts a layering arrangement mode to store multiple unmanned aerial vehicles, for example, patent number CN113183860A discloses a double-layer vehicle-mounted unmanned aerial vehicle nest, two unmanned aerial vehicles are respectively arranged on two layers to store the multiple unmanned aerial vehicles, the mode needs higher unmanned aerial vehicle nest height and more stability measures to ensure the safety of the unmanned aerial vehicles, and meanwhile, a plurality of corresponding take-off and landing platforms are generally needed to be arranged, so that the cost is high, and the landing control precision requirement of the unmanned aerial vehicles is high.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a multi-task unmanned aerial vehicle mobile machine nest and a routing inspection method, wherein the turntable is divided into a plurality of unmanned aerial vehicle storage areas, so that the storage of multiple unmanned aerial vehicles on the same platform is realized, the continuity of the unmanned aerial vehicle storage areas and an unmanned aerial vehicle take-off and landing platform is ensured, the take-off of the unmanned aerial vehicle on the take-off and landing platform can be realized only by directly pushing the unmanned aerial vehicle out, the complex positioning process of the unmanned aerial vehicle during landing is avoided, and the more efficient multi-unmanned aerial vehicle combined take-off operation is realized.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect of the invention provides a mobile nest for a multi-task unmanned aerial vehicle.
The multi-task unmanned aerial vehicle mobile nest at least comprises a take-off and landing platform and a turntable divided into a plurality of unmanned aerial vehicle stopping areas;
The turntable is in sliding connection with a horizontally arranged turntable guide rail, the turntable guide rail is fixed through a bottom beam, and the turntable is driven by a first motor;
Be equipped with the perpendicular first subassembly that resets of direction and second subassembly that resets on the landing platform, first subassembly and the second subassembly that resets are used for realizing taking out and resetting of unmanned aerial vehicle with the carousel cooperation.
As a further limitation of the first aspect of the invention, the turntable is a circular turntable, and the circular turntable is equally divided into at least three parts, each part being provided with one unmanned aerial vehicle.
As a further limitation of the first aspect of the present invention, the present invention further comprises an unmanned aerial vehicle foot stand, which is fixedly connected with the bottom beam through a locking mechanism.
As a further limitation of the first aspect of the present invention, the locking mechanism is internally provided with a contact spring for charging and communication.
As a further limitation of the first aspect of the invention, the turntable guide rail and the bottom beam form a multi-machine platform, and the bottom of the multi-machine platform is provided with a second motor for lifting.
As a further limitation of the first aspect of the present invention, it further comprises a hatch cover, a positioning module, an upper shell, an antenna, a positioning base station, a lower shell and a rotating arm, wherein the positioning module is arranged on the hatch cover, and the positioning base station is arranged on the upper shell;
The upper shell is connected with the lower shell, the hatch cover is movably connected with the lower shell through the rotating arm, and the hatch cover is used for being matched with the upper shell and the lower shell to realize the sealing of the lifting platform and the turntable.
As a further limitation of the first aspect of the invention, the swivel arm is immobilized by a chain drive, the drive sprocket is immobilized, the driven sprocket is synchronized with the shaft, and the driven sprocket is passively held in rotation with the drive sprocket by a corresponding amount to either hold the hatch horizontal or to have the upper surface of the hatch parallel to the upper surface of the upper shell.
As a further limitation of the first aspect of the present invention, the mobile machine nest further comprises a base, wherein the base comprises a connecting plate, a shock absorber, a side support, a trapezoidal screw rod, a strong support jack and an end surface locking device;
the shock absorber is arranged on each supporting beam of the connecting plate, the connecting plate is fixedly connected with the bottom of the lower shell, the trapezoidal screw rod is in threaded connection with the strong supporting jack, and the end face locking device is connected with the strong supporting jack through the side supporting.
The second aspect of the invention provides a multi-task unmanned aerial vehicle inspection method.
The invention relates to a multi-task unmanned aerial vehicle inspection method, which comprises the following steps of:
According to the acquired unmanned aerial vehicle inspection task, determining the unmanned aerial vehicle which needs to execute the inspection task;
Controlling the turntable to move so that the unmanned aerial vehicle to be taken off is aligned with the take-off and landing platform, moving the unmanned aerial vehicle to the take-off and landing platform through the first reset component, taking off the unmanned aerial vehicle and executing the patrol task;
After the unmanned aerial vehicle patrols and examines the completion, the unmanned aerial vehicle descends on the platform that takes off and land to reset the adjustment in returning through first subassembly and the second that resets, control carousel removes, aim at the platform that takes off and land with unmanned aerial vehicle place hangar mouth, remove unmanned aerial vehicle to the carousel in through first subassembly that resets.
As a further limitation of the second aspect of the present invention, the router signal data is intercepted, and the network condition is determined;
when the network condition is good, the unmanned aerial vehicle executes RTK positioning through the mobile communication network, and when the network condition is bad, differential correction data are transmitted to the unmanned aerial vehicle through a wireless link.
Compared with the prior art, the invention has the beneficial effects that:
1. The invention innovatively develops the mobile nest of the multi-task unmanned aerial vehicle, the turntable is divided into a plurality of unmanned aerial vehicle storage areas, so that the storage of the plurality of unmanned aerial vehicles is realized, the continuity between the unmanned aerial vehicle storage areas and the unmanned aerial vehicle take-off and landing platform is ensured, the take-off of the unmanned aerial vehicle on the take-off and landing platform can be realized only by directly pushing the unmanned aerial vehicle out, the complex positioning process when the unmanned aerial vehicle lands is avoided, and the multi-unmanned aerial vehicle combined take-off operation and the autonomous routing inspection operation with or without a network are realized.
2. The invention innovatively develops the mobile nest of the multi-task unmanned aerial vehicle, designs the base for stability of the mobile nest, ensures the stability of the mobile nest on a vehicle, and realizes more stable and convenient fixation with the vehicle body.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a schematic diagram of a mobile nest of a multi-task unmanned aerial vehicle according to embodiment 1 of the present invention;
fig. 2 is a second schematic diagram of a mobile nest of the multi-task unmanned aerial vehicle according to embodiment 1 of the present invention;
fig. 3 is a third schematic diagram of a mobile nest of the multi-task unmanned aerial vehicle according to embodiment 1 of the present invention;
fig. 4 is a schematic diagram of a mobile nest of a multi-task unmanned aerial vehicle according to embodiment 1 of the present invention;
FIG. 5 is a schematic view of a latch according to embodiment 1 of the present invention;
Fig. 6 is a schematic diagram of driving and driven gears according to embodiment 1 of the present invention;
FIG. 7 is a schematic view of a base provided in embodiment 1 of the present invention;
fig. 8 is a schematic diagram of network communication provided in embodiment 1 of the present invention;
The device comprises a 1-cabin cover, a 2-positioning module, a 3-unmanned aerial vehicle, a 4-upper shell, a 5-antenna, a 6-positioning base station, a 7-foot rest, an 8-locking device, a 9-turntable, a 10-front and back reset rod, a 11-left and right reset rod, a 12-lower shell, a 13-rotating arm, a 14-turntable guide rail, a 15-bottom beam, a 16-turntable motor, a 17-motor, a 18-connecting plate, a 19-shock absorber, a 20-side support, a 21-trapezoidal screw rod, a 22-strong support jack, a 23-end face locking and a 24-contact spring.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1:
As shown in fig. 1, 2, 3 and 4, embodiment 1 of the present invention provides a multi-task unmanned aerial vehicle mobile nest, which comprises a hatch cover 1, a positioning module 2, an unmanned aerial vehicle 3, an upper shell 4, an antenna 5, a positioning base station 6, a foot rest 7, a locking device 8, a turntable 9, a front-back reset 10, a left-right reset 11, a lower shell 12 and a rotating arm 13;
Wherein hatch door 1, epitheca 4 and inferior valve 12 belong to complete machine protective housing, provide the required protection of outdoor operation for the machine nest, control reset lever 11 and front and back reset lever 10 and realize unmanned aerial vehicle accurate reset operation, carousel 9 provides the multimachine accommodability for the machine nest, and carousel 9 can divide into a plurality of unmanned aerial vehicle parking areas.
This implementation the machine nest, three unmanned aerial vehicle parks (divide into 3 unmanned aerial vehicle parking areas promptly, every unmanned aerial vehicle parking area occupies the 120 scope of carousel circular arc) accessible carousel 9, when receiving the inspection task, open hatch door 1, send No. 1 unmanned aerial vehicle to take off and land the point through carousel 9, take out the aircraft through front and back reset lever 10, send the position of taking off, unmanned aerial vehicle automatic take off, drop through RTK+ vision after accomplishing the task, reset lever 10 and control reset lever 11 realization accurate location around the rethread, and reset lever 10 is sent back to unmanned aerial vehicle's home position region in carousel 9 from front and back, rotate carousel 9 this moment, no. 2 aircraft take off of control, take off the flow is the same with No. 1 aircraft flow, unnecessary here.
Optionally, in other implementations, the front and rear reset rods 10 and the left and right reset rods 11 are flexible reset rods, and are made of rubber or hydrogel, and specifically, the working principle is as follows:
When the tension of the flexible reset assembly is larger than the thrust threshold of the unmanned aerial vehicle, the unmanned aerial vehicle is judged to be blocked in reset, the thrust of the flexible reset assembly is reduced, and the flexible material is contracted and deformed when the thrust is reduced.
Optionally, according to the friction coefficient between the bearing foot rest and the lifting platform, the friction theoretical value of the bearing foot rest of the unmanned aerial vehicle is obtained.
Optionally, comparing the theoretical value and the actual measured value of the friction force to obtain an unmanned plane thrust threshold, wherein the unmanned plane thrust threshold is the sum of a tensioning force threshold and the friction force under the condition that the flexible reset assembly does not push;
And when the friction force actual value is larger than the friction force theoretical value, the friction force is the friction force actual value, otherwise, the friction force is the friction force theoretical value.
According to the mobile unmanned aerial vehicle nest, convenience of unmanned aerial vehicle multi-machine deployment application is realized through the multi-machine rotary mechanism, a circle is designed in a three-part mode, and each 120-degree unmanned aerial vehicle position is arranged, so that three unmanned aerial vehicles can be simultaneously accommodated at most;
It can be appreciated that in other implementations, the circle may be designed in a quarter or a fifth manner, or divided into more portions, where the size of the unmanned aerial vehicle is mainly considered, and the circle may be divided into a plurality of areas according to specific working conditions under the condition that the size of the unmanned aerial vehicle can be satisfied, and those skilled in the art may select the circle according to specific working conditions, which is not repeated herein.
In this embodiment, the turntable 9 is supported by a hexagonal bottom beam 15 (the bottom beam 15 is fixed), and the hexagonal bottom beam 15 is used to realize a more stable turntable 9 support on the premise of ensuring the stability of the bottom beam 15, and it can be understood that in other implementations, a heptagon or octagon bottom beam 15 can be used, and can be set to be more polygonal under the condition of meeting the requirements of cost and processing precision, which is not repeated here.
In this embodiment, the turntable guide rail 14 is added to ensure the parallelism of the turntable, a hollow turntable motor 16 (i.e. a first motor) is selected as the main drive, and the turntable motor 16 only needs to provide torque required for rotation when the turntable motor 16 absorbs pressure in the vertical direction through the bottom beam 15 and the turntable guide rail 14.
In this embodiment, the design of carousel only provides the platform that unmanned aerial vehicle multi-machine was deployed, at actual operation in-process, unmanned aerial vehicle not only needs to be deployed, more along with the operation of mobile nest product, consequently, unmanned aerial vehicle effective fixation is need be done, unmanned aerial vehicle horn is collapsible, its main design is sourced from getting put, the turnover in-process is convenient for accomodate, for realizing unmanned aerial vehicle multi-machine effective fixation of using, this embodiment is unmanned aerial vehicle design foot rest 7, realize unmanned aerial vehicle is fixed through foot rest 7 indirectly, realize 5 degrees of freedom locking to the fixed of foot rest 7, unmanned aerial vehicle 6 degree of freedom restraint is accomplished to motor 17 (i.e. the second motor) of rethread multi-machine platform bottom, as shown in fig. 5.
Specifically, the motor 17 and the lifting platform are fixed through bolts, when the unmanned aerial vehicle is required to move up and down, the output end of the motor 17 stretches into the bottom slot of the foot rest 7, and the foot rest 7 drives the unmanned aerial vehicle to move up and down under the driving of the motor 17.
Besides the fixing function of the unmanned aerial vehicle, the foot rest 7 is also used as a bottom charging end, and the unmanned aerial vehicle supplements electric quantity from the foot rest 7 through charging shrapnel on two sides of the branch row;
The required contact shell fragment of charging has been put to the inboard of lock 8, and the shell fragment is four altogether, and two are as charging electrode, and two are as 485 protocol communication mouths, control unmanned aerial vehicle switching machine through 485 protocol, and the design of foot rest 7 and lock 8 is charged the battery after unmanned aerial vehicle operation as the charging end on the one hand, and on the other hand is through the pressure of shell fragment, ensures that the aircraft is free from jolting at the nest axial in-process.
The opening of the hatch 1 is realized by the rotating arm 13, as shown in fig. 6, and the main problem to be overcome is how to ensure that the upper plane of the hatch 1 is kept parallel to the upper shell 4 during the opening process of the hatch by adopting chain transmission, wherein the transmission relation is as follows:
z1n1p＝z2n2p
The left side is the parameter of the driving wheel, the right side is the parameter of the driven wheel, z 1 and z 2 are the number of teeth, n 1 and n 2 are the revolutions per minute, p is the pitch, in order to ensure that the driving wheel and the driven wheel are consistent in rotating speed, z 1＝z2 is a gear with the same specification, and the specific scheme is that the driving wheel shaft rotates, the size is fixed, the driven wheel gear is synchronous with the shaft, the rotation of the driving wheel shaft drives the driven wheel to rotate, and the driven wheel can keep corresponding rotating quantity with the driving wheel due to the fact that the driving wheel is not moved, so that the hatch cover 1 is kept horizontal.
In this embodiment, the application process of the mobile nest of the multi-task unmanned aerial vehicle needs to consider fixing and damping treatment to avoid vibration under the vehicle-mounted condition, and a special base is designed in this embodiment, as shown in fig. 7, the special base mainly comprises a connecting plate 18, a damper 19, a side support 20, a trapezoidal screw 21, a strong support jack 22 and an end face locking 23, wherein the damper 19 is used for absorbing vibration generated in the operation process, the principle is that the wire rope damper absorbs vibration, the connecting plate 18 is used for being connected with the lower shell 12 (preferably through bolting), the strong support jack is unfolded through rotating the screw 21, and acting force is finally transmitted to the end face locking 23 through the side support 20, so that the left-right process of the illustration is completed, and the stable and convenient fixing with the vehicle body is realized.
The autonomous inspection in the embodiment realizes unmanned aerial vehicle control through a data transmission image transmission link, and the unmanned aerial vehicle remote control link needs to ensure that signals are effectively transmitted, so that a special gain external antenna is designed for a machine nest and is used as a basis for effective signal transmission;
At present, network RTKs are adopted for accurately positioning unmanned aerial vehicle products, but because of topography and regional limitation and no network coverage of partial regions, the embodiment specially provides an unmanned aerial vehicle accurate positioning method which is applied to meeting the requirements that civil satellite accurate positioning is not limited by a communication network, an RTK positioning base station is arranged in a machine nest, and an antenna is arranged in the base station;
As shown in fig. 8, firstly, the router signal data is intercepted by a built-in controller to judge the network condition, when the network condition is good, the unmanned aerial vehicle is connected with the network RTK through 4G or 5G for positioning, when the network condition is bad, the system detects the RTK signal difference, and at the moment, differential correction data is broadcast to the unmanned aerial vehicle through a wireless link, so that the automatic inspection problem of the unmanned aerial vehicle in the non-network area is solved;
Specifically, a vehicle-mounted base station combines satellite original positioning and satellite broadcast positioning difference to obtain a fixed solution, after a centimeter-level absolute positioning coordinate is obtained in an area without a communication network, the fixed solution is converted into a base station mode, positioning difference data are transmitted to a remote controller of the unmanned aerial vehicle through a data broadcasting communication module of equipment, and then the positioning difference data are broadcasted to a flight control system of the unmanned aerial vehicle through the remote controller, so that centimeter-level precision positioning of the unmanned aerial vehicle in the area without the communication network is realized;
more specifically, in this embodiment, the global reference station and the regional reference station observation data are used to extract each error source respectively, so as to obtain corrected high-precision positioning data, which are then broadcast to the terminal in a satellite or network manner, and errors with similar characteristics when the distance between the reference station and the mobile station is shorter are then used, and error items are directly eliminated in a differential manner, so as to obtain the high-precision relative position.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A multi-task unmanned aerial vehicle mobile nest is characterized in that,
The system at least comprises a take-off and landing platform and a turntable divided into a plurality of unmanned aerial vehicle stopping areas;
The turntable is in sliding connection with a horizontally arranged turntable guide rail, the turntable guide rail is fixed through a bottom beam, and the turntable is driven by a first motor;
the lifting platform is provided with a first reset component and a second reset component with vertical reset directions, and the first reset component and the second reset component are used for being matched with the turntable to realize the taking-out and resetting of the unmanned aerial vehicle;
The first reset assembly and the second reset assembly are flexible reset assemblies, a theoretical friction force value of the unmanned aerial vehicle carrying foot stand and the take-off and landing platform is obtained, the theoretical friction force value is compared with an actual friction force value to obtain an unmanned aerial vehicle thrust threshold, when the tension of the flexible reset assembly is larger than the unmanned aerial vehicle thrust threshold, the unmanned aerial vehicle is judged to be blocked in reset, the thrust of the flexible reset assembly is reduced, and the flexible reset assembly contracts and deforms when the thrust is reduced.
2. The multi-task unmanned aerial vehicle mobile nest of claim 1, wherein,
The carousel is circular carousel, just circular carousel partition is divided into at least three part, and an unmanned aerial vehicle is arranged to every part.
3. The multi-task unmanned aerial vehicle mobile nest of claim 1, wherein,
Still include unmanned aerial vehicle foot rest, unmanned aerial vehicle foot rest passes through locking mechanism and floorpan fixed connection.
4. The multi-task unmanned aerial vehicle mobile nest of claim 3,
The locking mechanism is internally provided with a contact spring piece for charging and communication.
5. The multi-task unmanned aerial vehicle mobile nest of claim 1, wherein,
The turntable, the turntable guide rail and the bottom beam form a multi-machine platform, and a second motor for lifting is arranged at the bottom of the multi-machine platform.
6. The multi-task unmanned aerial vehicle mobile nest of claim 1, wherein,
The device also comprises a hatch cover, a positioning module, an upper shell, an antenna, a positioning base station, a lower shell and a rotating arm, wherein the positioning module is arranged on the hatch cover, and the positioning base station is arranged on the upper shell;
The upper shell is connected with the lower shell, the hatch cover is movably connected with the lower shell through the rotating arm, and the hatch cover is used for being matched with the upper shell and the lower shell to realize the sealing of the lifting platform and the turntable.
7. The multi-task unmanned aerial vehicle mobile nest of claim 6, wherein,
The rotating arm is driven by a chain, the driving sprocket is fixed, the driven sprocket is synchronous with the shaft, and the driven sprocket passively maintains corresponding rotation quantity with the driving sprocket, so that the hatch cover is kept horizontal or the upper surface of the hatch cover is parallel to the upper surface of the upper shell.
8. The multi-task unmanned aerial vehicle mobile nest of claim 6, wherein,
The mobile machine nest further comprises a base, wherein the base comprises a connecting plate, a shock absorber, a side support, a trapezoidal screw rod, a strong support jack and an end face locking device;
the shock absorber is arranged on each supporting beam of the connecting plate, the connecting plate is fixedly connected with the bottom of the lower shell, the trapezoidal screw rod is in threaded connection with the strong supporting jack, and the end face locking device is connected with the strong supporting jack through the side supporting.
9. A method for inspection of a multi-task unmanned aerial vehicle, characterized in that the method for inspection of a multi-task unmanned aerial vehicle using the multi-task unmanned aerial vehicle mobile nest of any one of claims 1 to 8 comprises the following steps:
According to the acquired unmanned aerial vehicle inspection task, determining the unmanned aerial vehicle which needs to execute the inspection task;
Controlling the turntable to move so that the unmanned aerial vehicle to be taken off is aligned with the take-off and landing platform, moving the unmanned aerial vehicle to the take-off and landing platform through the first reset component, taking off the unmanned aerial vehicle and executing the patrol task;
After the unmanned aerial vehicle patrols and examines the completion, the unmanned aerial vehicle descends on the platform that takes off and land to reset the adjustment in returning through first subassembly and the second that resets, control carousel removes, aim at the platform that takes off and land with unmanned aerial vehicle place hangar mouth, remove unmanned aerial vehicle to the carousel in through first subassembly that resets.
10. The method for inspection of a multi-tasking unmanned aerial vehicle of claim 9, wherein,
Intercepting router signal data and judging network conditions;
when the network condition is good, the unmanned aerial vehicle executes RTK positioning through the mobile communication network, and when the network condition is bad, differential correction data are transmitted to the unmanned aerial vehicle through a wireless link.
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| CN208842641U (en) * | 2018-09-13 | 2019-05-10 | 张欣 | A kind of vehicle-mounted unmanned aerial vehicle machine nest |
| CN210852980U (en) * | 2019-05-21 | 2020-06-26 | 广州市颖锐电子技术有限公司 | Unmanned aerial vehicle retrieves frame fixed establishment |
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| US6672221B2 (en) * | 2002-02-05 | 2004-01-06 | Carousel Hangars, Inc. | Aircraft storage turntable, hangar assembly and method |
| CN108791940A (en) * | 2018-06-06 | 2018-11-13 | 南京航空航天大学 | A kind of continuous catapult-launching gear of rotating disc type unmanned plane and its control method |
| CN112109915B (en) * | 2020-09-23 | 2022-06-14 | 同济大学 | A turntable type unmanned aerial vehicle storage system |
| CN115571362A (en) * | 2022-09-29 | 2023-01-06 | 天津现代职业技术学院 | Unmanned aerial vehicle group multi-channel transmitting platform and recycling system and using method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN208842641U (en) * | 2018-09-13 | 2019-05-10 | 张欣 | A kind of vehicle-mounted unmanned aerial vehicle machine nest |
| CN210852980U (en) * | 2019-05-21 | 2020-06-26 | 广州市颖锐电子技术有限公司 | Unmanned aerial vehicle retrieves frame fixed establishment |
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